Upload folder using huggingface_hub

BimanualPlaceAppleFromBowlIntoBin/2025-06-27T21-47-33+00-00/diffusion_spartan/episode_49/processed/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57829813ec2eb80549451795cd995fa0261d07b0c10de1144208b22993b06e73
+size 36082

BimanualPlaceAppleFromBowlIntoBin/2025-06-27T21-47-33+00-00/diffusion_spartan/episode_49/processed/detailed_reward_traj.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:575e73a98cf866af3c992449f4395a5c1c63d64d1463de0528dd1ebd3ff42a5c
+size 6036

BimanualPlaceAppleFromBowlIntoBin/2025-06-27T21-47-33+00-00/diffusion_spartan/episode_49/processed/detailed_task_predicate_traj.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f1cc34c963934a550ca0ec7fb7260286e28432df00d76ec21343eaa87bd224d
+size 13603

BimanualPlaceAppleFromBowlIntoBin/2025-06-27T21-47-33+00-00/diffusion_spartan/episode_49/processed/extrinsics.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e2ae8c35d6e52216e4fb49099f09911b43de92e60bdd42de316bf4597d2e416
+size 7018

BimanualPlaceAppleFromBowlIntoBin/2025-06-27T21-47-33+00-00/diffusion_spartan/episode_49/processed/images_scene_1/camera_info.yaml

@@ -0,0 +1,15 @@
+camera_matrix:
+  cols: 3
+  rows: 3
+  data:
+    - 381.0
+    - 0.0
+    - 320.0
+    - 0.0
+    - 381.0
+    - 240.0
+    - 0.0
+    - 0.0
+    - 1.0
+  image_height: 480
+  image_width: 640

BimanualPlaceAppleFromBowlIntoBin/2025-06-27T21-47-33+00-00/diffusion_spartan/episode_49/processed/images_scene_1/pose_data.yaml

@@ -0,0 +1,3052 @@
+0:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000000_depth.png
+  rgb_image_filename: 000000_rgb.png
+  timestamp: 0
+1:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000001_depth.png
+  rgb_image_filename: 000001_rgb.png
+  timestamp: 100000
+2:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000002_depth.png
+  rgb_image_filename: 000002_rgb.png
+  timestamp: 200000
+3:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000003_depth.png
+  rgb_image_filename: 000003_rgb.png
+  timestamp: 300000
+4:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000004_depth.png
+  rgb_image_filename: 000004_rgb.png
+  timestamp: 400000
+5:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000005_depth.png
+  rgb_image_filename: 000005_rgb.png
+  timestamp: 500000
+6:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000006_depth.png
+  rgb_image_filename: 000006_rgb.png
+  timestamp: 600000
+7:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000007_depth.png
+  rgb_image_filename: 000007_rgb.png
+  timestamp: 700000
+8:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000008_depth.png
+  rgb_image_filename: 000008_rgb.png
+  timestamp: 799999
+9:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000009_depth.png
+  rgb_image_filename: 000009_rgb.png
+  timestamp: 899999
+10:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000010_depth.png
+  rgb_image_filename: 000010_rgb.png
+  timestamp: 999999
+11:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000011_depth.png
+  rgb_image_filename: 000011_rgb.png
+  timestamp: 1099999
+12:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000012_depth.png
+  rgb_image_filename: 000012_rgb.png
+  timestamp: 1200000
+13:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000013_depth.png
+  rgb_image_filename: 000013_rgb.png
+  timestamp: 1300000
+14:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000014_depth.png
+  rgb_image_filename: 000014_rgb.png
+  timestamp: 1400000
+15:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000015_depth.png
+  rgb_image_filename: 000015_rgb.png
+  timestamp: 1500000
+16:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000016_depth.png
+  rgb_image_filename: 000016_rgb.png
+  timestamp: 1600000
+17:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000017_depth.png
+  rgb_image_filename: 000017_rgb.png
+  timestamp: 1700000
+18:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000018_depth.png
+  rgb_image_filename: 000018_rgb.png
+  timestamp: 1800000
+19:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000019_depth.png
+  rgb_image_filename: 000019_rgb.png
+  timestamp: 1900000
+20:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000020_depth.png
+  rgb_image_filename: 000020_rgb.png
+  timestamp: 2000000
+21:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000021_depth.png
+  rgb_image_filename: 000021_rgb.png
+  timestamp: 2100000
+22:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000022_depth.png
+  rgb_image_filename: 000022_rgb.png
+  timestamp: 2200000
+23:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000023_depth.png
+  rgb_image_filename: 000023_rgb.png
+  timestamp: 2300000
+24:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000024_depth.png
+  rgb_image_filename: 000024_rgb.png
+  timestamp: 2400000
+25:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000025_depth.png
+  rgb_image_filename: 000025_rgb.png
+  timestamp: 2500000
+26:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000026_depth.png
+  rgb_image_filename: 000026_rgb.png
+  timestamp: 2600000
+27:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000027_depth.png
+  rgb_image_filename: 000027_rgb.png
+  timestamp: 2700000
+28:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000028_depth.png
+  rgb_image_filename: 000028_rgb.png
+  timestamp: 2800000
+29:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000029_depth.png
+  rgb_image_filename: 000029_rgb.png
+  timestamp: 2900000
+30:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000030_depth.png
+  rgb_image_filename: 000030_rgb.png
+  timestamp: 3000000
+31:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000031_depth.png
+  rgb_image_filename: 000031_rgb.png
+  timestamp: 3100000
+32:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000032_depth.png
+  rgb_image_filename: 000032_rgb.png
+  timestamp: 3200000
+33:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000033_depth.png
+  rgb_image_filename: 000033_rgb.png
+  timestamp: 3300000
+34:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000034_depth.png
+  rgb_image_filename: 000034_rgb.png
+  timestamp: 3400000
+35:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000035_depth.png
+  rgb_image_filename: 000035_rgb.png
+  timestamp: 3500000
+36:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000036_depth.png
+  rgb_image_filename: 000036_rgb.png
+  timestamp: 3600000
+37:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000037_depth.png
+  rgb_image_filename: 000037_rgb.png
+  timestamp: 3700000
+38:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000038_depth.png
+  rgb_image_filename: 000038_rgb.png
+  timestamp: 3800000
+39:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000039_depth.png
+  rgb_image_filename: 000039_rgb.png
+  timestamp: 3900000
+40:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000040_depth.png
+  rgb_image_filename: 000040_rgb.png
+  timestamp: 4000000
+41:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000041_depth.png
+  rgb_image_filename: 000041_rgb.png
+  timestamp: 4100000
+42:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000042_depth.png
+  rgb_image_filename: 000042_rgb.png
+  timestamp: 4200000
+43:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000043_depth.png
+  rgb_image_filename: 000043_rgb.png
+  timestamp: 4300000
+44:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000044_depth.png
+  rgb_image_filename: 000044_rgb.png
+  timestamp: 4400000
+45:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000045_depth.png
+  rgb_image_filename: 000045_rgb.png
+  timestamp: 4500000
+46:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000046_depth.png
+  rgb_image_filename: 000046_rgb.png
+  timestamp: 4600000
+47:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000047_depth.png
+  rgb_image_filename: 000047_rgb.png
+  timestamp: 4699999
+48:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000048_depth.png
+  rgb_image_filename: 000048_rgb.png
+  timestamp: 4799999
+49:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000049_depth.png
+  rgb_image_filename: 000049_rgb.png
+  timestamp: 4899999
+50:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000050_depth.png
+  rgb_image_filename: 000050_rgb.png
+  timestamp: 4999999
+51:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000051_depth.png
+  rgb_image_filename: 000051_rgb.png
+  timestamp: 5099999
+52:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000052_depth.png
+  rgb_image_filename: 000052_rgb.png
+  timestamp: 5199999
+53:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000053_depth.png
+  rgb_image_filename: 000053_rgb.png
+  timestamp: 5299999
+54:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000054_depth.png
+  rgb_image_filename: 000054_rgb.png
+  timestamp: 5399999
+55:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000055_depth.png
+  rgb_image_filename: 000055_rgb.png
+  timestamp: 5499999
+56:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000056_depth.png
+  rgb_image_filename: 000056_rgb.png
+  timestamp: 5599999
+57:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000057_depth.png
+  rgb_image_filename: 000057_rgb.png
+  timestamp: 5699999
+58:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000058_depth.png
+  rgb_image_filename: 000058_rgb.png
+  timestamp: 5799999
+59:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000059_depth.png
+  rgb_image_filename: 000059_rgb.png
+  timestamp: 5899999
+60:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000060_depth.png
+  rgb_image_filename: 000060_rgb.png
+  timestamp: 5999999
+61:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000061_depth.png
+  rgb_image_filename: 000061_rgb.png
+  timestamp: 6099999
+62:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000062_depth.png
+  rgb_image_filename: 000062_rgb.png
+  timestamp: 6199999
+63:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000063_depth.png
+  rgb_image_filename: 000063_rgb.png
+  timestamp: 6299999
+64:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000064_depth.png
+  rgb_image_filename: 000064_rgb.png
+  timestamp: 6399999
+65:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000065_depth.png
+  rgb_image_filename: 000065_rgb.png
+  timestamp: 6499999
+66:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000066_depth.png
+  rgb_image_filename: 000066_rgb.png
+  timestamp: 6599999
+67:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000067_depth.png
+  rgb_image_filename: 000067_rgb.png
+  timestamp: 6699999
+68:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000068_depth.png
+  rgb_image_filename: 000068_rgb.png
+  timestamp: 6799999
+69:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000069_depth.png
+  rgb_image_filename: 000069_rgb.png
+  timestamp: 6899999
+70:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000070_depth.png
+  rgb_image_filename: 000070_rgb.png
+  timestamp: 6999999
+71:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000071_depth.png
+  rgb_image_filename: 000071_rgb.png
+  timestamp: 7099999
+72:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000072_depth.png
+  rgb_image_filename: 000072_rgb.png
+  timestamp: 7199999
+73:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000073_depth.png
+  rgb_image_filename: 000073_rgb.png
+  timestamp: 7299999
+74:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000074_depth.png
+  rgb_image_filename: 000074_rgb.png
+  timestamp: 7399999
+75:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000075_depth.png
+  rgb_image_filename: 000075_rgb.png
+  timestamp: 7499999
+76:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000076_depth.png
+  rgb_image_filename: 000076_rgb.png
+  timestamp: 7599999
+77:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000077_depth.png
+  rgb_image_filename: 000077_rgb.png
+  timestamp: 7699999
+78:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000078_depth.png
+  rgb_image_filename: 000078_rgb.png
+  timestamp: 7799999
+79:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000079_depth.png
+  rgb_image_filename: 000079_rgb.png
+  timestamp: 7899999
+80:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000080_depth.png
+  rgb_image_filename: 000080_rgb.png
+  timestamp: 7999999
+81:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000081_depth.png
+  rgb_image_filename: 000081_rgb.png
+  timestamp: 8099999
+82:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000082_depth.png
+  rgb_image_filename: 000082_rgb.png
+  timestamp: 8199999
+83:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000083_depth.png
+  rgb_image_filename: 000083_rgb.png
+  timestamp: 8299999
+84:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000084_depth.png
+  rgb_image_filename: 000084_rgb.png
+  timestamp: 8399999
+85:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000085_depth.png
+  rgb_image_filename: 000085_rgb.png
+  timestamp: 8499999
+86:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000086_depth.png
+  rgb_image_filename: 000086_rgb.png
+  timestamp: 8599999
+87:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000087_depth.png
+  rgb_image_filename: 000087_rgb.png
+  timestamp: 8699999
+88:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000088_depth.png
+  rgb_image_filename: 000088_rgb.png
+  timestamp: 8799999
+89:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000089_depth.png
+  rgb_image_filename: 000089_rgb.png
+  timestamp: 8899999
+90:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000090_depth.png
+  rgb_image_filename: 000090_rgb.png
+  timestamp: 8999999
+91:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000091_depth.png
+  rgb_image_filename: 000091_rgb.png
+  timestamp: 9099999
+92:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000092_depth.png
+  rgb_image_filename: 000092_rgb.png
+  timestamp: 9199999
+93:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000093_depth.png
+  rgb_image_filename: 000093_rgb.png
+  timestamp: 9299999
+94:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000094_depth.png
+  rgb_image_filename: 000094_rgb.png
+  timestamp: 9399999
+95:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000095_depth.png
+  rgb_image_filename: 000095_rgb.png
+  timestamp: 9499999
+96:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000096_depth.png
+  rgb_image_filename: 000096_rgb.png
+  timestamp: 9599999
+97:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000097_depth.png
+  rgb_image_filename: 000097_rgb.png
+  timestamp: 9699999
+98:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000098_depth.png
+  rgb_image_filename: 000098_rgb.png
+  timestamp: 9799999
+99:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000099_depth.png
+  rgb_image_filename: 000099_rgb.png
+  timestamp: 9899999
+100:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000100_depth.png
+  rgb_image_filename: 000100_rgb.png
+  timestamp: 9999999
+101:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000101_depth.png
+  rgb_image_filename: 000101_rgb.png
+  timestamp: 10099999
+102:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000102_depth.png
+  rgb_image_filename: 000102_rgb.png
+  timestamp: 10199999
+103:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000103_depth.png
+  rgb_image_filename: 000103_rgb.png
+  timestamp: 10299999
+104:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000104_depth.png
+  rgb_image_filename: 000104_rgb.png
+  timestamp: 10399999
+105:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000105_depth.png
+  rgb_image_filename: 000105_rgb.png
+  timestamp: 10499999
+106:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000106_depth.png
+  rgb_image_filename: 000106_rgb.png
+  timestamp: 10599999
+107:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000107_depth.png
+  rgb_image_filename: 000107_rgb.png
+  timestamp: 10699999
+108:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000108_depth.png
+  rgb_image_filename: 000108_rgb.png
+  timestamp: 10799999
+109:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000109_depth.png
+  rgb_image_filename: 000109_rgb.png
+  timestamp: 10899999
+110:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000110_depth.png
+  rgb_image_filename: 000110_rgb.png
+  timestamp: 10999999
+111:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000111_depth.png
+  rgb_image_filename: 000111_rgb.png
+  timestamp: 11099999
+112:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000112_depth.png
+  rgb_image_filename: 000112_rgb.png
+  timestamp: 11199999
+113:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000113_depth.png
+  rgb_image_filename: 000113_rgb.png
+  timestamp: 11299999
+114:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000114_depth.png
+  rgb_image_filename: 000114_rgb.png
+  timestamp: 11399999
+115:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000115_depth.png
+  rgb_image_filename: 000115_rgb.png
+  timestamp: 11499999
+116:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000116_depth.png
+  rgb_image_filename: 000116_rgb.png
+  timestamp: 11599999
+117:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000117_depth.png
+  rgb_image_filename: 000117_rgb.png
+  timestamp: 11699999
+118:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000118_depth.png
+  rgb_image_filename: 000118_rgb.png
+  timestamp: 11799999
+119:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000119_depth.png
+  rgb_image_filename: 000119_rgb.png
+  timestamp: 11899999
+120:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000120_depth.png
+  rgb_image_filename: 000120_rgb.png
+  timestamp: 11999999
+121:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000121_depth.png
+  rgb_image_filename: 000121_rgb.png
+  timestamp: 12099999
+122:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000122_depth.png
+  rgb_image_filename: 000122_rgb.png
+  timestamp: 12199999
+123:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000123_depth.png
+  rgb_image_filename: 000123_rgb.png
+  timestamp: 12299999
+124:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000124_depth.png
+  rgb_image_filename: 000124_rgb.png
+  timestamp: 12399999
+125:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000125_depth.png
+  rgb_image_filename: 000125_rgb.png
+  timestamp: 12499999
+126:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000126_depth.png
+  rgb_image_filename: 000126_rgb.png
+  timestamp: 12599999
+127:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000127_depth.png
+  rgb_image_filename: 000127_rgb.png
+  timestamp: 12699999
+128:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000128_depth.png
+  rgb_image_filename: 000128_rgb.png
+  timestamp: 12799999
+129:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000129_depth.png
+  rgb_image_filename: 000129_rgb.png
+  timestamp: 12899999
+130:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000130_depth.png
+  rgb_image_filename: 000130_rgb.png
+  timestamp: 12999999
+131:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000131_depth.png
+  rgb_image_filename: 000131_rgb.png
+  timestamp: 13099999
+132:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000132_depth.png
+  rgb_image_filename: 000132_rgb.png
+  timestamp: 13199999
+133:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000133_depth.png
+  rgb_image_filename: 000133_rgb.png
+  timestamp: 13299999
+134:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000134_depth.png
+  rgb_image_filename: 000134_rgb.png
+  timestamp: 13399999
+135:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000135_depth.png
+  rgb_image_filename: 000135_rgb.png
+  timestamp: 13499999
+136:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000136_depth.png
+  rgb_image_filename: 000136_rgb.png
+  timestamp: 13599999
+137:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000137_depth.png
+  rgb_image_filename: 000137_rgb.png
+  timestamp: 13699999
+138:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000138_depth.png
+  rgb_image_filename: 000138_rgb.png
+  timestamp: 13799999
+139:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000139_depth.png
+  rgb_image_filename: 000139_rgb.png
+  timestamp: 13899999
+140:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000140_depth.png
+  rgb_image_filename: 000140_rgb.png
+  timestamp: 13999999
+141:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000141_depth.png
+  rgb_image_filename: 000141_rgb.png
+  timestamp: 14099999
+142:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000142_depth.png
+  rgb_image_filename: 000142_rgb.png
+  timestamp: 14199999
+143:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000143_depth.png
+  rgb_image_filename: 000143_rgb.png
+  timestamp: 14299999
+144:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000144_depth.png
+  rgb_image_filename: 000144_rgb.png
+  timestamp: 14399999
+145:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000145_depth.png
+  rgb_image_filename: 000145_rgb.png
+  timestamp: 14499999
+146:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000146_depth.png
+  rgb_image_filename: 000146_rgb.png
+  timestamp: 14599999
+147:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000147_depth.png
+  rgb_image_filename: 000147_rgb.png
+  timestamp: 14699999
+148:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000148_depth.png
+  rgb_image_filename: 000148_rgb.png
+  timestamp: 14799999
+149:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000149_depth.png
+  rgb_image_filename: 000149_rgb.png
+  timestamp: 14899999
+150:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000150_depth.png
+  rgb_image_filename: 000150_rgb.png
+  timestamp: 14999999
+151:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000151_depth.png
+  rgb_image_filename: 000151_rgb.png
+  timestamp: 15099999
+152:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000152_depth.png
+  rgb_image_filename: 000152_rgb.png
+  timestamp: 15199999
+153:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000153_depth.png
+  rgb_image_filename: 000153_rgb.png
+  timestamp: 15299999
+154:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000154_depth.png
+  rgb_image_filename: 000154_rgb.png
+  timestamp: 15399999
+155:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000155_depth.png
+  rgb_image_filename: 000155_rgb.png
+  timestamp: 15499999
+156:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000156_depth.png
+  rgb_image_filename: 000156_rgb.png
+  timestamp: 15599999
+157:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000157_depth.png
+  rgb_image_filename: 000157_rgb.png
+  timestamp: 15699999
+158:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000158_depth.png
+  rgb_image_filename: 000158_rgb.png
+  timestamp: 15799999
+159:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000159_depth.png
+  rgb_image_filename: 000159_rgb.png
+  timestamp: 15899999
+160:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000160_depth.png
+  rgb_image_filename: 000160_rgb.png
+  timestamp: 15999999
+161:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000161_depth.png
+  rgb_image_filename: 000161_rgb.png
+  timestamp: 16099999
+162:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000162_depth.png
+  rgb_image_filename: 000162_rgb.png
+  timestamp: 16199999
+163:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000163_depth.png
+  rgb_image_filename: 000163_rgb.png
+  timestamp: 16299999
+164:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000164_depth.png
+  rgb_image_filename: 000164_rgb.png
+  timestamp: 16399999
+165:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000165_depth.png
+  rgb_image_filename: 000165_rgb.png
+  timestamp: 16499999
+166:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000166_depth.png
+  rgb_image_filename: 000166_rgb.png
+  timestamp: 16599999
+167:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000167_depth.png
+  rgb_image_filename: 000167_rgb.png
+  timestamp: 16699999
+168:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000168_depth.png
+  rgb_image_filename: 000168_rgb.png
+  timestamp: 16799999
+169:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000169_depth.png
+  rgb_image_filename: 000169_rgb.png
+  timestamp: 16899999
+170:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000170_depth.png
+  rgb_image_filename: 000170_rgb.png
+  timestamp: 16999999
+171:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000171_depth.png
+  rgb_image_filename: 000171_rgb.png
+  timestamp: 17099999
+172:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000172_depth.png
+  rgb_image_filename: 000172_rgb.png
+  timestamp: 17199999
+173:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000173_depth.png
+  rgb_image_filename: 000173_rgb.png
+  timestamp: 17299999
+174:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000174_depth.png
+  rgb_image_filename: 000174_rgb.png
+  timestamp: 17399999
+175:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000175_depth.png
+  rgb_image_filename: 000175_rgb.png
+  timestamp: 17499999
+176:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000176_depth.png
+  rgb_image_filename: 000176_rgb.png
+  timestamp: 17599999
+177:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000177_depth.png
+  rgb_image_filename: 000177_rgb.png
+  timestamp: 17699999
+178:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000178_depth.png
+  rgb_image_filename: 000178_rgb.png
+  timestamp: 17799999
+179:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000179_depth.png
+  rgb_image_filename: 000179_rgb.png
+  timestamp: 17899999
+180:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000180_depth.png
+  rgb_image_filename: 000180_rgb.png
+  timestamp: 17999999
+181:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000181_depth.png
+  rgb_image_filename: 000181_rgb.png
+  timestamp: 18099999
+182:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000182_depth.png
+  rgb_image_filename: 000182_rgb.png
+  timestamp: 18199999
+183:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000183_depth.png
+  rgb_image_filename: 000183_rgb.png
+  timestamp: 18299999
+184:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000184_depth.png
+  rgb_image_filename: 000184_rgb.png
+  timestamp: 18399999
+185:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000185_depth.png
+  rgb_image_filename: 000185_rgb.png
+  timestamp: 18499999
+186:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000186_depth.png
+  rgb_image_filename: 000186_rgb.png
+  timestamp: 18599999
+187:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000187_depth.png
+  rgb_image_filename: 000187_rgb.png
+  timestamp: 18699999
+188:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000188_depth.png
+  rgb_image_filename: 000188_rgb.png
+  timestamp: 18799999
+189:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000189_depth.png
+  rgb_image_filename: 000189_rgb.png
+  timestamp: 18900000
+190:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000190_depth.png
+  rgb_image_filename: 000190_rgb.png
+  timestamp: 19000000
+191:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000191_depth.png
+  rgb_image_filename: 000191_rgb.png
+  timestamp: 19100000
+192:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000192_depth.png
+  rgb_image_filename: 000192_rgb.png
+  timestamp: 19200000
+193:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000193_depth.png
+  rgb_image_filename: 000193_rgb.png
+  timestamp: 19300000
+194:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000194_depth.png
+  rgb_image_filename: 000194_rgb.png
+  timestamp: 19400000
+195:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000195_depth.png
+  rgb_image_filename: 000195_rgb.png
+  timestamp: 19500000
+196:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000196_depth.png
+  rgb_image_filename: 000196_rgb.png
+  timestamp: 19600000
+197:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000197_depth.png
+  rgb_image_filename: 000197_rgb.png
+  timestamp: 19700000
+198:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000198_depth.png
+  rgb_image_filename: 000198_rgb.png
+  timestamp: 19800000
+199:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000199_depth.png
+  rgb_image_filename: 000199_rgb.png
+  timestamp: 19900000
+200:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000200_depth.png
+  rgb_image_filename: 000200_rgb.png
+  timestamp: 20000000
+201:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000201_depth.png
+  rgb_image_filename: 000201_rgb.png
+  timestamp: 20100000
+202:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000202_depth.png
+  rgb_image_filename: 000202_rgb.png
+  timestamp: 20200000
+203:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000203_depth.png
+  rgb_image_filename: 000203_rgb.png
+  timestamp: 20300000
+204:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000204_depth.png
+  rgb_image_filename: 000204_rgb.png
+  timestamp: 20400000
+205:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000205_depth.png
+  rgb_image_filename: 000205_rgb.png
+  timestamp: 20500000
+206:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000206_depth.png
+  rgb_image_filename: 000206_rgb.png
+  timestamp: 20600000
+207:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000207_depth.png
+  rgb_image_filename: 000207_rgb.png
+  timestamp: 20700000
+208:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000208_depth.png
+  rgb_image_filename: 000208_rgb.png
+  timestamp: 20800000
+209:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000209_depth.png
+  rgb_image_filename: 000209_rgb.png
+  timestamp: 20900000
+210:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000210_depth.png
+  rgb_image_filename: 000210_rgb.png
+  timestamp: 21000000
+211:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000211_depth.png
+  rgb_image_filename: 000211_rgb.png
+  timestamp: 21100000
+212:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000212_depth.png
+  rgb_image_filename: 000212_rgb.png
+  timestamp: 21200000
+213:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000213_depth.png
+  rgb_image_filename: 000213_rgb.png
+  timestamp: 21300000
+214:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000214_depth.png
+  rgb_image_filename: 000214_rgb.png
+  timestamp: 21400000
+215:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000215_depth.png
+  rgb_image_filename: 000215_rgb.png
+  timestamp: 21500000
+216:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000216_depth.png
+  rgb_image_filename: 000216_rgb.png
+  timestamp: 21600000
+217:
+  camera_to_world:
+    quaternion:
+      w: 0.07762194977123903
+      x: -0.19020678162868074
+      y: -0.9061223537905138
+      z: 0.3697816830202784
+    translation:
+      x: 0.21
+      y: 0.48
+      z: 0.78
+  depth_image_filename: 000217_depth.png
+  rgb_image_filename: 000217_rgb.png
+  timestamp: 21700000

BimanualPlaceAppleFromBowlIntoBin/2025-06-27T21-47-33+00-00/diffusion_spartan/episode_49/processed/images_scene_10/camera_info.yaml

@@ -0,0 +1,15 @@
+camera_matrix:
+  cols: 3
+  rows: 3
+  data:
+    - 381.0
+    - 0.0
+    - 320.0
+    - 0.0
+    - 381.0
+    - 240.0
+    - 0.0
+    - 0.0
+    - 1.0
+  image_height: 480
+  image_width: 640

BimanualPlaceAppleFromBowlIntoBin/2025-06-27T21-47-33+00-00/diffusion_spartan/episode_49/processed/images_scene_10/pose_data.yaml

@@ -0,0 +1,3052 @@
+0:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000000_depth.png
+  rgb_image_filename: 000000_rgb.png
+  timestamp: 0
+1:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000001_depth.png
+  rgb_image_filename: 000001_rgb.png
+  timestamp: 100000
+2:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000002_depth.png
+  rgb_image_filename: 000002_rgb.png
+  timestamp: 200000
+3:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000003_depth.png
+  rgb_image_filename: 000003_rgb.png
+  timestamp: 300000
+4:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000004_depth.png
+  rgb_image_filename: 000004_rgb.png
+  timestamp: 400000
+5:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000005_depth.png
+  rgb_image_filename: 000005_rgb.png
+  timestamp: 500000
+6:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000006_depth.png
+  rgb_image_filename: 000006_rgb.png
+  timestamp: 600000
+7:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000007_depth.png
+  rgb_image_filename: 000007_rgb.png
+  timestamp: 700000
+8:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000008_depth.png
+  rgb_image_filename: 000008_rgb.png
+  timestamp: 799999
+9:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000009_depth.png
+  rgb_image_filename: 000009_rgb.png
+  timestamp: 899999
+10:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000010_depth.png
+  rgb_image_filename: 000010_rgb.png
+  timestamp: 999999
+11:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000011_depth.png
+  rgb_image_filename: 000011_rgb.png
+  timestamp: 1099999
+12:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000012_depth.png
+  rgb_image_filename: 000012_rgb.png
+  timestamp: 1200000
+13:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000013_depth.png
+  rgb_image_filename: 000013_rgb.png
+  timestamp: 1300000
+14:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000014_depth.png
+  rgb_image_filename: 000014_rgb.png
+  timestamp: 1400000
+15:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000015_depth.png
+  rgb_image_filename: 000015_rgb.png
+  timestamp: 1500000
+16:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000016_depth.png
+  rgb_image_filename: 000016_rgb.png
+  timestamp: 1600000
+17:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000017_depth.png
+  rgb_image_filename: 000017_rgb.png
+  timestamp: 1700000
+18:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000018_depth.png
+  rgb_image_filename: 000018_rgb.png
+  timestamp: 1800000
+19:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000019_depth.png
+  rgb_image_filename: 000019_rgb.png
+  timestamp: 1900000
+20:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000020_depth.png
+  rgb_image_filename: 000020_rgb.png
+  timestamp: 2000000
+21:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000021_depth.png
+  rgb_image_filename: 000021_rgb.png
+  timestamp: 2100000
+22:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000022_depth.png
+  rgb_image_filename: 000022_rgb.png
+  timestamp: 2200000
+23:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000023_depth.png
+  rgb_image_filename: 000023_rgb.png
+  timestamp: 2300000
+24:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000024_depth.png
+  rgb_image_filename: 000024_rgb.png
+  timestamp: 2400000
+25:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000025_depth.png
+  rgb_image_filename: 000025_rgb.png
+  timestamp: 2500000
+26:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000026_depth.png
+  rgb_image_filename: 000026_rgb.png
+  timestamp: 2600000
+27:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000027_depth.png
+  rgb_image_filename: 000027_rgb.png
+  timestamp: 2700000
+28:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000028_depth.png
+  rgb_image_filename: 000028_rgb.png
+  timestamp: 2800000
+29:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000029_depth.png
+  rgb_image_filename: 000029_rgb.png
+  timestamp: 2900000
+30:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000030_depth.png
+  rgb_image_filename: 000030_rgb.png
+  timestamp: 3000000
+31:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000031_depth.png
+  rgb_image_filename: 000031_rgb.png
+  timestamp: 3100000
+32:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000032_depth.png
+  rgb_image_filename: 000032_rgb.png
+  timestamp: 3200000
+33:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000033_depth.png
+  rgb_image_filename: 000033_rgb.png
+  timestamp: 3300000
+34:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000034_depth.png
+  rgb_image_filename: 000034_rgb.png
+  timestamp: 3400000
+35:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000035_depth.png
+  rgb_image_filename: 000035_rgb.png
+  timestamp: 3500000
+36:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000036_depth.png
+  rgb_image_filename: 000036_rgb.png
+  timestamp: 3600000
+37:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000037_depth.png
+  rgb_image_filename: 000037_rgb.png
+  timestamp: 3700000
+38:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000038_depth.png
+  rgb_image_filename: 000038_rgb.png
+  timestamp: 3800000
+39:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000039_depth.png
+  rgb_image_filename: 000039_rgb.png
+  timestamp: 3900000
+40:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000040_depth.png
+  rgb_image_filename: 000040_rgb.png
+  timestamp: 4000000
+41:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000041_depth.png
+  rgb_image_filename: 000041_rgb.png
+  timestamp: 4100000
+42:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000042_depth.png
+  rgb_image_filename: 000042_rgb.png
+  timestamp: 4200000
+43:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000043_depth.png
+  rgb_image_filename: 000043_rgb.png
+  timestamp: 4300000
+44:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000044_depth.png
+  rgb_image_filename: 000044_rgb.png
+  timestamp: 4400000
+45:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000045_depth.png
+  rgb_image_filename: 000045_rgb.png
+  timestamp: 4500000
+46:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000046_depth.png
+  rgb_image_filename: 000046_rgb.png
+  timestamp: 4600000
+47:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000047_depth.png
+  rgb_image_filename: 000047_rgb.png
+  timestamp: 4699999
+48:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000048_depth.png
+  rgb_image_filename: 000048_rgb.png
+  timestamp: 4799999
+49:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000049_depth.png
+  rgb_image_filename: 000049_rgb.png
+  timestamp: 4899999
+50:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000050_depth.png
+  rgb_image_filename: 000050_rgb.png
+  timestamp: 4999999
+51:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000051_depth.png
+  rgb_image_filename: 000051_rgb.png
+  timestamp: 5099999
+52:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000052_depth.png
+  rgb_image_filename: 000052_rgb.png
+  timestamp: 5199999
+53:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000053_depth.png
+  rgb_image_filename: 000053_rgb.png
+  timestamp: 5299999
+54:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000054_depth.png
+  rgb_image_filename: 000054_rgb.png
+  timestamp: 5399999
+55:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000055_depth.png
+  rgb_image_filename: 000055_rgb.png
+  timestamp: 5499999
+56:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000056_depth.png
+  rgb_image_filename: 000056_rgb.png
+  timestamp: 5599999
+57:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000057_depth.png
+  rgb_image_filename: 000057_rgb.png
+  timestamp: 5699999
+58:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000058_depth.png
+  rgb_image_filename: 000058_rgb.png
+  timestamp: 5799999
+59:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000059_depth.png
+  rgb_image_filename: 000059_rgb.png
+  timestamp: 5899999
+60:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000060_depth.png
+  rgb_image_filename: 000060_rgb.png
+  timestamp: 5999999
+61:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000061_depth.png
+  rgb_image_filename: 000061_rgb.png
+  timestamp: 6099999
+62:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000062_depth.png
+  rgb_image_filename: 000062_rgb.png
+  timestamp: 6199999
+63:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000063_depth.png
+  rgb_image_filename: 000063_rgb.png
+  timestamp: 6299999
+64:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000064_depth.png
+  rgb_image_filename: 000064_rgb.png
+  timestamp: 6399999
+65:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000065_depth.png
+  rgb_image_filename: 000065_rgb.png
+  timestamp: 6499999
+66:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000066_depth.png
+  rgb_image_filename: 000066_rgb.png
+  timestamp: 6599999
+67:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000067_depth.png
+  rgb_image_filename: 000067_rgb.png
+  timestamp: 6699999
+68:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000068_depth.png
+  rgb_image_filename: 000068_rgb.png
+  timestamp: 6799999
+69:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000069_depth.png
+  rgb_image_filename: 000069_rgb.png
+  timestamp: 6899999
+70:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000070_depth.png
+  rgb_image_filename: 000070_rgb.png
+  timestamp: 6999999
+71:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000071_depth.png
+  rgb_image_filename: 000071_rgb.png
+  timestamp: 7099999
+72:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000072_depth.png
+  rgb_image_filename: 000072_rgb.png
+  timestamp: 7199999
+73:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000073_depth.png
+  rgb_image_filename: 000073_rgb.png
+  timestamp: 7299999
+74:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000074_depth.png
+  rgb_image_filename: 000074_rgb.png
+  timestamp: 7399999
+75:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000075_depth.png
+  rgb_image_filename: 000075_rgb.png
+  timestamp: 7499999
+76:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000076_depth.png
+  rgb_image_filename: 000076_rgb.png
+  timestamp: 7599999
+77:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000077_depth.png
+  rgb_image_filename: 000077_rgb.png
+  timestamp: 7699999
+78:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000078_depth.png
+  rgb_image_filename: 000078_rgb.png
+  timestamp: 7799999
+79:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000079_depth.png
+  rgb_image_filename: 000079_rgb.png
+  timestamp: 7899999
+80:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000080_depth.png
+  rgb_image_filename: 000080_rgb.png
+  timestamp: 7999999
+81:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000081_depth.png
+  rgb_image_filename: 000081_rgb.png
+  timestamp: 8099999
+82:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000082_depth.png
+  rgb_image_filename: 000082_rgb.png
+  timestamp: 8199999
+83:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000083_depth.png
+  rgb_image_filename: 000083_rgb.png
+  timestamp: 8299999
+84:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000084_depth.png
+  rgb_image_filename: 000084_rgb.png
+  timestamp: 8399999
+85:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000085_depth.png
+  rgb_image_filename: 000085_rgb.png
+  timestamp: 8499999
+86:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000086_depth.png
+  rgb_image_filename: 000086_rgb.png
+  timestamp: 8599999
+87:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000087_depth.png
+  rgb_image_filename: 000087_rgb.png
+  timestamp: 8699999
+88:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000088_depth.png
+  rgb_image_filename: 000088_rgb.png
+  timestamp: 8799999
+89:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000089_depth.png
+  rgb_image_filename: 000089_rgb.png
+  timestamp: 8899999
+90:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000090_depth.png
+  rgb_image_filename: 000090_rgb.png
+  timestamp: 8999999
+91:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000091_depth.png
+  rgb_image_filename: 000091_rgb.png
+  timestamp: 9099999
+92:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000092_depth.png
+  rgb_image_filename: 000092_rgb.png
+  timestamp: 9199999
+93:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000093_depth.png
+  rgb_image_filename: 000093_rgb.png
+  timestamp: 9299999
+94:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000094_depth.png
+  rgb_image_filename: 000094_rgb.png
+  timestamp: 9399999
+95:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000095_depth.png
+  rgb_image_filename: 000095_rgb.png
+  timestamp: 9499999
+96:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000096_depth.png
+  rgb_image_filename: 000096_rgb.png
+  timestamp: 9599999
+97:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000097_depth.png
+  rgb_image_filename: 000097_rgb.png
+  timestamp: 9699999
+98:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000098_depth.png
+  rgb_image_filename: 000098_rgb.png
+  timestamp: 9799999
+99:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000099_depth.png
+  rgb_image_filename: 000099_rgb.png
+  timestamp: 9899999
+100:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000100_depth.png
+  rgb_image_filename: 000100_rgb.png
+  timestamp: 9999999
+101:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000101_depth.png
+  rgb_image_filename: 000101_rgb.png
+  timestamp: 10099999
+102:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000102_depth.png
+  rgb_image_filename: 000102_rgb.png
+  timestamp: 10199999
+103:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000103_depth.png
+  rgb_image_filename: 000103_rgb.png
+  timestamp: 10299999
+104:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000104_depth.png
+  rgb_image_filename: 000104_rgb.png
+  timestamp: 10399999
+105:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000105_depth.png
+  rgb_image_filename: 000105_rgb.png
+  timestamp: 10499999
+106:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000106_depth.png
+  rgb_image_filename: 000106_rgb.png
+  timestamp: 10599999
+107:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000107_depth.png
+  rgb_image_filename: 000107_rgb.png
+  timestamp: 10699999
+108:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000108_depth.png
+  rgb_image_filename: 000108_rgb.png
+  timestamp: 10799999
+109:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000109_depth.png
+  rgb_image_filename: 000109_rgb.png
+  timestamp: 10899999
+110:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000110_depth.png
+  rgb_image_filename: 000110_rgb.png
+  timestamp: 10999999
+111:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000111_depth.png
+  rgb_image_filename: 000111_rgb.png
+  timestamp: 11099999
+112:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000112_depth.png
+  rgb_image_filename: 000112_rgb.png
+  timestamp: 11199999
+113:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000113_depth.png
+  rgb_image_filename: 000113_rgb.png
+  timestamp: 11299999
+114:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000114_depth.png
+  rgb_image_filename: 000114_rgb.png
+  timestamp: 11399999
+115:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000115_depth.png
+  rgb_image_filename: 000115_rgb.png
+  timestamp: 11499999
+116:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000116_depth.png
+  rgb_image_filename: 000116_rgb.png
+  timestamp: 11599999
+117:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000117_depth.png
+  rgb_image_filename: 000117_rgb.png
+  timestamp: 11699999
+118:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000118_depth.png
+  rgb_image_filename: 000118_rgb.png
+  timestamp: 11799999
+119:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000119_depth.png
+  rgb_image_filename: 000119_rgb.png
+  timestamp: 11899999
+120:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000120_depth.png
+  rgb_image_filename: 000120_rgb.png
+  timestamp: 11999999
+121:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000121_depth.png
+  rgb_image_filename: 000121_rgb.png
+  timestamp: 12099999
+122:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000122_depth.png
+  rgb_image_filename: 000122_rgb.png
+  timestamp: 12199999
+123:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000123_depth.png
+  rgb_image_filename: 000123_rgb.png
+  timestamp: 12299999
+124:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000124_depth.png
+  rgb_image_filename: 000124_rgb.png
+  timestamp: 12399999
+125:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000125_depth.png
+  rgb_image_filename: 000125_rgb.png
+  timestamp: 12499999
+126:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000126_depth.png
+  rgb_image_filename: 000126_rgb.png
+  timestamp: 12599999
+127:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000127_depth.png
+  rgb_image_filename: 000127_rgb.png
+  timestamp: 12699999
+128:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000128_depth.png
+  rgb_image_filename: 000128_rgb.png
+  timestamp: 12799999
+129:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000129_depth.png
+  rgb_image_filename: 000129_rgb.png
+  timestamp: 12899999
+130:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000130_depth.png
+  rgb_image_filename: 000130_rgb.png
+  timestamp: 12999999
+131:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000131_depth.png
+  rgb_image_filename: 000131_rgb.png
+  timestamp: 13099999
+132:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000132_depth.png
+  rgb_image_filename: 000132_rgb.png
+  timestamp: 13199999
+133:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000133_depth.png
+  rgb_image_filename: 000133_rgb.png
+  timestamp: 13299999
+134:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000134_depth.png
+  rgb_image_filename: 000134_rgb.png
+  timestamp: 13399999
+135:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000135_depth.png
+  rgb_image_filename: 000135_rgb.png
+  timestamp: 13499999
+136:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000136_depth.png
+  rgb_image_filename: 000136_rgb.png
+  timestamp: 13599999
+137:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000137_depth.png
+  rgb_image_filename: 000137_rgb.png
+  timestamp: 13699999
+138:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000138_depth.png
+  rgb_image_filename: 000138_rgb.png
+  timestamp: 13799999
+139:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000139_depth.png
+  rgb_image_filename: 000139_rgb.png
+  timestamp: 13899999
+140:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000140_depth.png
+  rgb_image_filename: 000140_rgb.png
+  timestamp: 13999999
+141:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000141_depth.png
+  rgb_image_filename: 000141_rgb.png
+  timestamp: 14099999
+142:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000142_depth.png
+  rgb_image_filename: 000142_rgb.png
+  timestamp: 14199999
+143:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000143_depth.png
+  rgb_image_filename: 000143_rgb.png
+  timestamp: 14299999
+144:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000144_depth.png
+  rgb_image_filename: 000144_rgb.png
+  timestamp: 14399999
+145:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000145_depth.png
+  rgb_image_filename: 000145_rgb.png
+  timestamp: 14499999
+146:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000146_depth.png
+  rgb_image_filename: 000146_rgb.png
+  timestamp: 14599999
+147:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000147_depth.png
+  rgb_image_filename: 000147_rgb.png
+  timestamp: 14699999
+148:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000148_depth.png
+  rgb_image_filename: 000148_rgb.png
+  timestamp: 14799999
+149:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000149_depth.png
+  rgb_image_filename: 000149_rgb.png
+  timestamp: 14899999
+150:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000150_depth.png
+  rgb_image_filename: 000150_rgb.png
+  timestamp: 14999999
+151:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000151_depth.png
+  rgb_image_filename: 000151_rgb.png
+  timestamp: 15099999
+152:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000152_depth.png
+  rgb_image_filename: 000152_rgb.png
+  timestamp: 15199999
+153:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000153_depth.png
+  rgb_image_filename: 000153_rgb.png
+  timestamp: 15299999
+154:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000154_depth.png
+  rgb_image_filename: 000154_rgb.png
+  timestamp: 15399999
+155:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000155_depth.png
+  rgb_image_filename: 000155_rgb.png
+  timestamp: 15499999
+156:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000156_depth.png
+  rgb_image_filename: 000156_rgb.png
+  timestamp: 15599999
+157:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000157_depth.png
+  rgb_image_filename: 000157_rgb.png
+  timestamp: 15699999
+158:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000158_depth.png
+  rgb_image_filename: 000158_rgb.png
+  timestamp: 15799999
+159:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000159_depth.png
+  rgb_image_filename: 000159_rgb.png
+  timestamp: 15899999
+160:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000160_depth.png
+  rgb_image_filename: 000160_rgb.png
+  timestamp: 15999999
+161:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000161_depth.png
+  rgb_image_filename: 000161_rgb.png
+  timestamp: 16099999
+162:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000162_depth.png
+  rgb_image_filename: 000162_rgb.png
+  timestamp: 16199999
+163:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000163_depth.png
+  rgb_image_filename: 000163_rgb.png
+  timestamp: 16299999
+164:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000164_depth.png
+  rgb_image_filename: 000164_rgb.png
+  timestamp: 16399999
+165:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000165_depth.png
+  rgb_image_filename: 000165_rgb.png
+  timestamp: 16499999
+166:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000166_depth.png
+  rgb_image_filename: 000166_rgb.png
+  timestamp: 16599999
+167:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000167_depth.png
+  rgb_image_filename: 000167_rgb.png
+  timestamp: 16699999
+168:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000168_depth.png
+  rgb_image_filename: 000168_rgb.png
+  timestamp: 16799999
+169:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000169_depth.png
+  rgb_image_filename: 000169_rgb.png
+  timestamp: 16899999
+170:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000170_depth.png
+  rgb_image_filename: 000170_rgb.png
+  timestamp: 16999999
+171:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000171_depth.png
+  rgb_image_filename: 000171_rgb.png
+  timestamp: 17099999
+172:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000172_depth.png
+  rgb_image_filename: 000172_rgb.png
+  timestamp: 17199999
+173:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000173_depth.png
+  rgb_image_filename: 000173_rgb.png
+  timestamp: 17299999
+174:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000174_depth.png
+  rgb_image_filename: 000174_rgb.png
+  timestamp: 17399999
+175:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000175_depth.png
+  rgb_image_filename: 000175_rgb.png
+  timestamp: 17499999
+176:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000176_depth.png
+  rgb_image_filename: 000176_rgb.png
+  timestamp: 17599999
+177:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000177_depth.png
+  rgb_image_filename: 000177_rgb.png
+  timestamp: 17699999
+178:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000178_depth.png
+  rgb_image_filename: 000178_rgb.png
+  timestamp: 17799999
+179:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000179_depth.png
+  rgb_image_filename: 000179_rgb.png
+  timestamp: 17899999
+180:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000180_depth.png
+  rgb_image_filename: 000180_rgb.png
+  timestamp: 17999999
+181:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000181_depth.png
+  rgb_image_filename: 000181_rgb.png
+  timestamp: 18099999
+182:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000182_depth.png
+  rgb_image_filename: 000182_rgb.png
+  timestamp: 18199999
+183:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000183_depth.png
+  rgb_image_filename: 000183_rgb.png
+  timestamp: 18299999
+184:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000184_depth.png
+  rgb_image_filename: 000184_rgb.png
+  timestamp: 18399999
+185:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000185_depth.png
+  rgb_image_filename: 000185_rgb.png
+  timestamp: 18499999
+186:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000186_depth.png
+  rgb_image_filename: 000186_rgb.png
+  timestamp: 18599999
+187:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000187_depth.png
+  rgb_image_filename: 000187_rgb.png
+  timestamp: 18699999
+188:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000188_depth.png
+  rgb_image_filename: 000188_rgb.png
+  timestamp: 18799999
+189:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000189_depth.png
+  rgb_image_filename: 000189_rgb.png
+  timestamp: 18900000
+190:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000190_depth.png
+  rgb_image_filename: 000190_rgb.png
+  timestamp: 19000000
+191:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000191_depth.png
+  rgb_image_filename: 000191_rgb.png
+  timestamp: 19100000
+192:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000192_depth.png
+  rgb_image_filename: 000192_rgb.png
+  timestamp: 19200000
+193:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000193_depth.png
+  rgb_image_filename: 000193_rgb.png
+  timestamp: 19300000
+194:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000194_depth.png
+  rgb_image_filename: 000194_rgb.png
+  timestamp: 19400000
+195:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000195_depth.png
+  rgb_image_filename: 000195_rgb.png
+  timestamp: 19500000
+196:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000196_depth.png
+  rgb_image_filename: 000196_rgb.png
+  timestamp: 19600000
+197:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000197_depth.png
+  rgb_image_filename: 000197_rgb.png
+  timestamp: 19700000
+198:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000198_depth.png
+  rgb_image_filename: 000198_rgb.png
+  timestamp: 19800000
+199:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000199_depth.png
+  rgb_image_filename: 000199_rgb.png
+  timestamp: 19900000
+200:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000200_depth.png
+  rgb_image_filename: 000200_rgb.png
+  timestamp: 20000000
+201:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000201_depth.png
+  rgb_image_filename: 000201_rgb.png
+  timestamp: 20100000
+202:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000202_depth.png
+  rgb_image_filename: 000202_rgb.png
+  timestamp: 20200000
+203:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000203_depth.png
+  rgb_image_filename: 000203_rgb.png
+  timestamp: 20300000
+204:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000204_depth.png
+  rgb_image_filename: 000204_rgb.png
+  timestamp: 20400000
+205:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000205_depth.png
+  rgb_image_filename: 000205_rgb.png
+  timestamp: 20500000
+206:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000206_depth.png
+  rgb_image_filename: 000206_rgb.png
+  timestamp: 20600000
+207:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000207_depth.png
+  rgb_image_filename: 000207_rgb.png
+  timestamp: 20700000
+208:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000208_depth.png
+  rgb_image_filename: 000208_rgb.png
+  timestamp: 20800000
+209:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000209_depth.png
+  rgb_image_filename: 000209_rgb.png
+  timestamp: 20900000
+210:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000210_depth.png
+  rgb_image_filename: 000210_rgb.png
+  timestamp: 21000000
+211:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000211_depth.png
+  rgb_image_filename: 000211_rgb.png
+  timestamp: 21100000
+212:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000212_depth.png
+  rgb_image_filename: 000212_rgb.png
+  timestamp: 21200000
+213:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000213_depth.png
+  rgb_image_filename: 000213_rgb.png
+  timestamp: 21300000
+214:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000214_depth.png
+  rgb_image_filename: 000214_rgb.png
+  timestamp: 21400000
+215:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000215_depth.png
+  rgb_image_filename: 000215_rgb.png
+  timestamp: 21500000
+216:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000216_depth.png
+  rgb_image_filename: 000216_rgb.png
+  timestamp: 21600000
+217:
+  camera_to_world:
+    quaternion:
+      w: 0.08413938334016383
+      x: -0.41318913943209185
+      y: -0.8885150186102481
+      z: 0.18093192346994696
+    translation:
+      x: 0.25
+      y: 0.21
+      z: 1.03
+  depth_image_filename: 000217_depth.png
+  rgb_image_filename: 000217_rgb.png
+  timestamp: 21700000

BimanualPlaceAppleFromBowlIntoBin/2025-06-27T21-47-33+00-00/diffusion_spartan/episode_49/processed/images_scene_11/camera_info.yaml

@@ -0,0 +1,15 @@
+camera_matrix:
+  cols: 3
+  rows: 3
+  data:
+    - 381.0
+    - 0.0
+    - 320.0
+    - 0.0
+    - 381.0
+    - 240.0
+    - 0.0
+    - 0.0
+    - 1.0
+  image_height: 480
+  image_width: 640