{
  "base_frame": "Left_link_base",
  "cameras": {
    "camera_left": {
      "width": 848,
      "height": 480,
      "K": [
        432.2005615234375,
        0.0,
        419.52099609375,
        0.0,
        431.2939147949219,
        242.78208923339844,
        0.0,
        0.0,
        1.0
      ],
      "D": [
        -0.05291380733251572,
        0.05307697877287865,
        0.0003404165036045015,
        0.0007035547751002014,
        -0.017025740817189217
      ],
      "distortion_model": "plumb_bob",
      "frame_id": "Left_camera_color_optical_frame",
      "base_T_cam": [
        [
          0.9888499,
          -0.06366404,
          0.13462081,
          0.17652672
        ],
        [
          -0.0887973,
          -0.97779027,
          0.18984526,
          0.16281294
        ],
        [
          0.1195446,
          -0.19968244,
          -0.97254101,
          0.20862823
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "extrinsics_source": "tf_dynamic_snapshot",
      "base_T_cam_note": "Computed from /tf_static + /tf snapshot at episode start (arm-mounted camera). Changes with arm pose \u2014 use eef_T_cam + FK for per-frame accuracy.",
      "eef_T_cam": [
        [
          0.01470564,
          -0.90673807,
          0.4214378,
          0.08511343
        ],
        [
          0.99988652,
          0.01471414,
          -0.00323203,
          -0.00907493
        ],
        [
          -0.00327049,
          0.4214375,
          0.90685155,
          -0.10763061
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "eef_T_cam_note": "Static transform Left_link_eef \u2192 Left_camera_color_optical_frame from /tf_static. Combine with per-frame FK to get base_T_cam for each timestep."
    },
    "camera_top": {
      "width": 848,
      "height": 480,
      "K": [
        615.108642578125,
        0.0,
        423.62823486328125,
        0.0,
        615.4803466796875,
        236.41786193847656,
        0.0,
        0.0,
        1.0
      ],
      "D": [
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "distortion_model": "plumb_bob",
      "frame_id": "camera_top_color_optical_frame",
      "base_T_cam": [
        [
          -0.03413733911862893,
          0.600104852117726,
          -0.7991925979028222,
          0.8328757816209533
        ],
        [
          0.9983728447745763,
          -0.016070068790283915,
          -0.05471211662690078,
          -0.33670314885678404
        ],
        [
          -0.0456760866824182,
          -0.799759913570215,
          -0.5985797989838467,
          0.5805898046774342
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "extrinsics_source": "tf_static"
    }
  }
}