{
  "episode_000000": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000001": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000002": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000003": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000004": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000005": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000006": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000007": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000008": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000009": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000010": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000011": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000012": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000013": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000014": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000015": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000016": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000017": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000018": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000019": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000020": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000021": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000022": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000023": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000024": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000025": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000026": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000027": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000028": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000029": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000030": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000031": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000032": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000033": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000034": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000035": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000036": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000037": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000038": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000039": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000040": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000041": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000042": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000043": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000044": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000045": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000046": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000047": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000048": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000049": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000050": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000051": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000052": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000053": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000054": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000055": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000056": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000057": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000058": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000059": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000060": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000061": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000062": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000063": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000064": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000065": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000066": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000067": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000068": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000069": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000070": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000071": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000072": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000073": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000074": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000075": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000076": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000077": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000078": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000079": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000080": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000081": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000082": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000083": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000084": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000085": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000086": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000087": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000088": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000089": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000090": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000091": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000092": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000093": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000094": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000095": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000096": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000097": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000098": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000099": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000100": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000101": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000102": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000103": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000104": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000105": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000106": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000107": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000108": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000109": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000110": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000111": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000112": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000113": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000114": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000115": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000116": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000117": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000118": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000119": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000120": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000121": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000122": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000123": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000124": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000125": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000126": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000127": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000128": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000129": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000130": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000131": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000132": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000133": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000134": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000135": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000136": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000137": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000138": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000139": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000140": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000141": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000142": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000143": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000144": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000145": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000146": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000147": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000148": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000149": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000150": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000151": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000152": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000153": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000154": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000155": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000156": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000157": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000158": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000159": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000160": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000161": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000162": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000163": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000164": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000165": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000166": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000167": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000168": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000169": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000170": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000171": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000172": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000173": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000174": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000175": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000176": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000177": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000178": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000179": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000180": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000181": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000182": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000183": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000184": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000185": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000186": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000187": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000188": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000189": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000190": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000191": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000192": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000193": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000194": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000195": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000196": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000197": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000198": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000199": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000200": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000201": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000202": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000203": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000204": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000205": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000206": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000207": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000208": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000209": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000210": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000211": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000212": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000213": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000214": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000215": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000216": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000217": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000218": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000219": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000220": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000221": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000222": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000223": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000224": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000225": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000226": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000227": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000228": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000229": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000230": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000231": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000232": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000233": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000234": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000235": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000236": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000237": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000238": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000239": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000240": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000241": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000242": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000243": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000244": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000245": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000246": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000247": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000248": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000249": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000250": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000251": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000252": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000253": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000254": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000255": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000256": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000257": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000258": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000259": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000260": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000261": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000262": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000263": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000264": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000265": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000266": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000267": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000268": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000269": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000270": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000271": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000272": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000273": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000274": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000275": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000276": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000277": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000278": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000279": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000280": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000281": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000282": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000283": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000284": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000285": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000286": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000287": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000288": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000289": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000290": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000291": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000292": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000293": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000294": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000295": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000296": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000297": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000298": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000299": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000300": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000301": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000302": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000303": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000304": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000305": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000306": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000307": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000308": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000309": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000310": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000311": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000312": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000313": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000314": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000315": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000316": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000317": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000318": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000319": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000320": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000321": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000322": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000323": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000324": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000325": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000326": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000327": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000328": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000329": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000330": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000331": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000332": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000333": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000334": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000335": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000336": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000337": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000338": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000339": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000340": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000341": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000342": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000343": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000344": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000345": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000346": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000347": {
    "camera_ids": {
      "head": "408222300754",
      "left_arm": "419222301111",
      "right_arm": "419122302433",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.013591527241723744,
            -0.8426768999752808,
            -0.5382480029087781
          ],
          [
            0.999869180343852,
            -0.016174567214473967,
            7.465881102038386e-05
          ],
          [
            -0.008768841756530915,
            -0.5381765747628514,
            0.8427864983439008
          ]
        ],
        "T": [
          0.10490123596178859,
          0.018915441785201204,
          0.05919853776329166
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03521518417247638,
            0.8471023790166796,
            0.5302616809349704
          ],
          [
            -0.9993467801529345,
            0.034158466053077596,
            0.011798821757406212
          ],
          [
            -0.008118115647172503,
            -0.5303308011620507,
            0.8477519316033177
          ]
        ],
        "T": [
          -0.10256570423205966,
          -0.014286182882909731,
          0.05637257534049567
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.0052006092859742115,
            -0.7965544476136074,
            -0.6045444281854192
          ],
          [
            0.07161981472408793,
            -0.6027033748442132,
            0.7947447666328373
          ],
          [
            -0.9974184456896423,
            -0.047430516952449486,
            0.05391465718783195
          ]
        ],
        "T": [
          0.17033500398715737,
          0.10826336627872495,
          0.03032417156369132
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            -0.0072671284347956,
            0.8023831279567868,
            0.5967650331701706
          ],
          [
            0.06369942566897986,
            -0.595197290739611,
            0.8010509149022108
          ],
          [
            0.9979426697029015,
            0.04383492975367449,
            -0.04678596926147982
          ]
        ],
        "T": [
          -0.187916420436762,
          0.1131415961757997,
          0.060233103668520416
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              388.01605224609375,
              0,
              313.8094482421875
            ],
            [
              0,
              387.7770690917969,
              240.18113708496094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        },
        "720P": {
          "MTX": [
            [
              646.6934204101562,
              0,
              629.6824340820312
            ],
            [
              0,
              646.2951049804688,
              360.3018798828125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05172444507479668,
            0.06081214174628258,
            -0.00018935005937237293,
            -0.0002566573675721884,
            -0.01981271430850029
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.8623352050781,
              0,
              315.7250671386719
            ],
            [
              0,
              386.6688232421875,
              243.6750946044922
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        },
        "720P": {
          "MTX": [
            [
              644.7705078125,
              0,
              632.8751220703125
            ],
            [
              0,
              644.4480590820312,
              366.12518310546875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05122273042798042,
            0.05612591654062271,
            -0.000859457824844867,
            -0.0004609729803632945,
            -0.017859192565083504
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.8599548339844,
              0,
              321.1283874511719
            ],
            [
              0,
              387.52227783203125,
              246.52064514160156
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4332275390625,
              0,
              641.880615234375
            ],
            [
              0,
              645.8704833984375,
              370.8677673339844
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.048327647149562836,
            0.054490137845277786,
            -0.0008593092206865549,
            0.0010094331810250878,
            -0.017324022948741913
          ]
        }
      }
    }
  },
  "episode_000348": {
    "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_000349": {
    "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_000350": {
    "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_000351": {
    "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_000352": {
    "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_000353": {
    "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_000354": {
    "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_000355": {
    "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_000356": {
    "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_000357": {
    "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_000358": {
    "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_000359": {
    "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_000360": {
    "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_000361": {
    "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_000362": {
    "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
          ]
        }
      }
    }
  }
}