[
  {
    "id": 0,
    "scan_id": "0000",
    "camera_id": 0,
    "light_id": 0,
    "position": [
      637.927917,
      -136.38121,
      112.321091
    ],
    "rotation_matrix": [
      [
        0.30726087865049234,
        -0.9516253046918841,
        0.00017866450680298351
      ],
      [
        -6.299043946789151e-05,
        0.00016740833328204863,
        0.999999984003327
      ],
      [
        -0.9516253193789728,
        -0.30726088498949633,
        -8.505264573632765e-06
      ]
    ],
    "position_light": [
      363.556305,
      193.64357,
      397.787079
    ],
    "rotation_matrix_light": [
      [
        0.47131552555168577,
        0.37960739431942864,
        0.7960903852904846
      ],
      [
        0.6199990032433268,
        0.499360728861712,
        -0.6051777412033437
      ],
      [
        -0.6272662204767763,
        0.7788049105191324,
        2.5826148830621065e-07
      ]
    ],
    "servo_angle": [
      [
        37.0176,
        26.968035,
        -68.84065,
        120.090865,
        66.518509,
        18.385242,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.819561,
        -34.965322,
        -45.611337,
        -247.866183,
        23.688023,
        117.412861,
        0.0
      ]
    ],
    "turn_angle": 114.3134124285227,
    "filename": "scan-0000_light-0_camera-0.png"
  },
  {
    "id": 1,
    "scan_id": "0001",
    "camera_id": 1,
    "light_id": 0,
    "position": [
      625.837097,
      -136.381149,
      142.011047
    ],
    "rotation_matrix": [
      [
        0.3664682237297213,
        -0.9304305503469121,
        0.00017882260909801717
      ],
      [
        -6.303334052132348e-05,
        0.00016736648409021448,
        0.999999984007629
      ],
      [
        -0.9304305653960327,
        -0.3664682291408119,
        2.6863524250075876e-06
      ]
    ],
    "position_light": [
      363.556305,
      193.64357,
      397.787079
    ],
    "rotation_matrix_light": [
      [
        0.47131552555168577,
        0.37960739431942864,
        0.7960903852904846
      ],
      [
        0.6199990032433268,
        0.499360728861712,
        -0.6051777412033437
      ],
      [
        -0.6272662204767763,
        0.7788049105191324,
        2.5826148830621065e-07
      ]
    ],
    "servo_angle": [
      [
        38.083588,
        22.01407,
        -66.54286,
        119.948313,
        64.576927,
        16.919616,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.819561,
        -34.965322,
        -45.611337,
        -247.866183,
        23.688023,
        117.412861,
        0.0
      ]
    ],
    "turn_angle": 114.3134124285227,
    "filename": "scan-0001_light-0_camera-1.png"
  },
  {
    "id": 2,
    "scan_id": "0002",
    "camera_id": 2,
    "light_id": 0,
    "position": [
      610.10968,
      -136.381149,
      174.288696
    ],
    "rotation_matrix": [
      [
        0.4310538026316455,
        -0.9023262090831627,
        0.00017787188358470152
      ],
      [
        -6.293247278027492e-05,
        0.00016706219716539072,
        0.999999984064863
      ],
      [
        -0.9023262244201387,
        -0.4310538069566616,
        1.5227175772070112e-05
      ]
    ],
    "position_light": [
      363.556305,
      193.64357,
      397.787079
    ],
    "rotation_matrix_light": [
      [
        0.47131552555168577,
        0.37960739431942864,
        0.7960903852904846
      ],
      [
        0.6199990032433268,
        0.499360728861712,
        -0.6051777412033437
      ],
      [
        -0.6272662204767763,
        0.7788049105191324,
        2.5826148830621065e-07
      ]
    ],
    "servo_angle": [
      [
        39.522743,
        16.523988,
        -64.158954,
        119.803813,
        62.151081,
        15.335846,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.819561,
        -34.965322,
        -45.611337,
        -247.866183,
        23.688023,
        117.412861,
        0.0
      ]
    ],
    "turn_angle": 114.3134124285227,
    "filename": "scan-0002_light-0_camera-2.png"
  },
  {
    "id": 3,
    "scan_id": "0003",
    "camera_id": 3,
    "light_id": 0,
    "position": [
      590.94342,
      -136.381149,
      207.296921
    ],
    "rotation_matrix": [
      [
        0.4973611139757603,
        -0.8675435962658927,
        0.00017573512037349914
      ],
      [
        -6.266517239672531e-05,
        0.00016664049882914034,
        0.9999999841520101
      ],
      [
        -0.8675436118016586,
        -0.497361117106058,
        2.851573510942451e-05
      ]
    ],
    "position_light": [
      363.556305,
      193.64357,
      397.787079
    ],
    "rotation_matrix_light": [
      [
        0.47131552555168577,
        0.37960739431942864,
        0.7960903852904846
      ],
      [
        0.6199990032433268,
        0.499360728861712,
        -0.6051777412033437
      ],
      [
        -0.6272662204767763,
        0.7788049105191324,
        2.5826148830621065e-07
      ]
    ],
    "servo_angle": [
      [
        41.372308,
        10.786503,
        -61.862883,
        119.659313,
        59.24544,
        13.695754,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.819561,
        -34.965322,
        -45.611337,
        -247.866183,
        23.688023,
        117.412861,
        0.0
      ]
    ],
    "turn_angle": 114.3134124285227,
    "filename": "scan-0003_light-0_camera-3.png"
  },
  {
    "id": 4,
    "scan_id": "0004",
    "camera_id": 4,
    "light_id": 0,
    "position": [
      572.676392,
      -136.381149,
      234.259109
    ],
    "rotation_matrix": [
      [
        0.5517435289573231,
        -0.8340138175498705,
        0.000174326160735927
      ],
      [
        -6.290146983578548e-05,
        0.0001674081125113691,
        0.9999999840089641
      ],
      [
        -0.8340138333967393,
        -0.5517435310997444,
        3.990564778588723e-05
      ]
    ],
    "position_light": [
      363.556305,
      193.64357,
      397.787079
    ],
    "rotation_matrix_light": [
      [
        0.47131552555168577,
        0.37960739431942864,
        0.7960903852904846
      ],
      [
        0.6199990032433268,
        0.499360728861712,
        -0.6051777412033437
      ],
      [
        -0.6272662204767763,
        0.7788049105191324,
        2.5826148830621065e-07
      ]
    ],
    "servo_angle": [
      [
        43.245651,
        6.004139,
        -60.115305,
        119.538992,
        56.467626,
        12.306159,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.819561,
        -34.965322,
        -45.611337,
        -247.866183,
        23.688023,
        117.412861,
        0.0
      ]
    ],
    "turn_angle": 114.3134124285227,
    "filename": "scan-0004_light-0_camera-4.png"
  },
  {
    "id": 5,
    "scan_id": "0005",
    "camera_id": 5,
    "light_id": 0,
    "position": [
      555.171387,
      -136.381149,
      257.020844
    ],
    "rotation_matrix": [
      [
        0.5978283678841638,
        -0.8016241097383807,
        0.00017099446114138273
      ],
      [
        -6.277138569332763e-05,
        0.00016649691763770402,
        0.9999999841692648
      ],
      [
        -0.8016241255181322,
        -0.5978283691536603,
        4.921752435560478e-05
      ]
    ],
    "position_light": [
      363.556305,
      193.64357,
      397.787079
    ],
    "rotation_matrix_light": [
      [
        0.47131552555168577,
        0.37960739431942864,
        0.7960903852904846
      ],
      [
        0.6199990032433268,
        0.499360728861712,
        -0.6051777412033437
      ],
      [
        -0.6272662204767763,
        0.7788049105191324,
        2.5826148830621065e-07
      ]
    ],
    "servo_angle": [
      [
        45.15171,
        1.902392,
        -58.750004,
        119.434943,
        53.765042,
        11.06393,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.819561,
        -34.965322,
        -45.611337,
        -247.866183,
        23.688023,
        117.412861,
        0.0
      ]
    ],
    "turn_angle": 114.3134124285227,
    "filename": "scan-0005_light-0_camera-5.png"
  },
  {
    "id": 6,
    "scan_id": "0006",
    "camera_id": 6,
    "light_id": 0,
    "position": [
      514.293823,
      -136.381149,
      301.515625
    ],
    "rotation_matrix": [
      [
        0.6884779489114021,
        -0.7252572557687972,
        0.00016376038198490095
      ],
      [
        -6.265250365800057e-05,
        0.00016632100020569363,
        0.9999999842059943
      ],
      [
        -0.7252572715508705,
        -0.6884779482975754,
        6.906915821242032e-05
      ]
    ],
    "position_light": [
      363.556305,
      193.64357,
      397.787079
    ],
    "rotation_matrix_light": [
      [
        0.47131552555168577,
        0.37960739431942864,
        0.7960903852904846
      ],
      [
        0.6199990032433268,
        0.499360728861712,
        -0.6051777412033437
      ],
      [
        -0.6272662204767763,
        0.7788049105191324,
        2.5826148830621065e-07
      ]
    ],
    "servo_angle": [
      [
        50.068662,
        -6.245813,
        -56.474674,
        119.245982,
        47.197857,
        8.266119,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.819561,
        -34.965322,
        -45.611337,
        -247.866183,
        23.688023,
        117.412861,
        0.0
      ]
    ],
    "turn_angle": 114.3134124285227,
    "filename": "scan-0006_light-0_camera-6.png"
  },
  {
    "id": 7,
    "scan_id": "0007",
    "camera_id": 7,
    "light_id": 0,
    "position": [
      508.375336,
      -136.381149,
      307.145752
    ],
    "rotation_matrix": [
      [
        0.7000105915998134,
        -0.7141324420720837,
        0.00016379328761101375
      ],
      [
        -6.300559415195472e-05,
        0.00016760014627226205,
        0.9999999839702427
      ],
      [
        -0.7141324580764932,
        -0.7000105906987071,
        7.232753872832287e-05
      ]
    ],
    "position_light": [
      363.556305,
      193.64357,
      397.787079
    ],
    "rotation_matrix_light": [
      [
        0.47131552555168577,
        0.37960739431942864,
        0.7960903852904846
      ],
      [
        0.6199990032433268,
        0.499360728861712,
        -0.6051777412033437
      ],
      [
        -0.6272662204767763,
        0.7788049105191324,
        2.5826148830621065e-07
      ]
    ],
    "servo_angle": [
      [
        50.838259,
        -7.282752,
        -56.235349,
        119.228335,
        46.210765,
        7.854678,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.819561,
        -34.965322,
        -45.611337,
        -247.866183,
        23.688023,
        117.412861,
        0.0
      ]
    ],
    "turn_angle": 114.3134124285227,
    "filename": "scan-0007_light-0_camera-7.png"
  },
  {
    "id": 8,
    "scan_id": "0008",
    "camera_id": 8,
    "light_id": 0,
    "position": [
      461.134094,
      -136.381149,
      346.310181
    ],
    "rotation_matrix": [
      [
        0.7807488188007556,
        -0.6248449874342138,
        0.0001536865710037305
      ],
      [
        -6.324122486456307e-05,
        0.00016693909535991924,
        0.9999999840659428
      ],
      [
        -0.6248450031341952,
        -0.7807488160795863,
        9.082153915807023e-05
      ]
    ],
    "position_light": [
      363.556305,
      193.64357,
      397.787079
    ],
    "rotation_matrix_light": [
      [
        0.47131552555168577,
        0.37960739431942864,
        0.7960903852904846
      ],
      [
        0.6199990032433268,
        0.499360728861712,
        -0.6051777412033437
      ],
      [
        -0.6272662204767763,
        0.7788049105191324,
        2.5826148830621065e-07
      ]
    ],
    "servo_angle": [
      [
        57.535505,
        -14.423582,
        -55.028929,
        119.268785,
        37.954844,
        4.292141,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.819561,
        -34.965322,
        -45.611337,
        -247.866183,
        23.688023,
        117.412861,
        0.0
      ]
    ],
    "turn_angle": 114.3134124285227,
    "filename": "scan-0008_light-0_camera-8.png"
  },
  {
    "id": 9,
    "scan_id": "0009",
    "camera_id": 9,
    "light_id": 0,
    "position": [
      456.506775,
      -136.381149,
      349.658386
    ],
    "rotation_matrix": [
      [
        0.7877010465586956,
        -0.6160576579104242,
        0.0001529060437224783
      ],
      [
        -6.302072571157114e-05,
        0.0001676215664992986,
        0.999999983965699
      ],
      [
        -0.616057673662721,
        -0.7877010435647098,
        9.321128267558709e-05
      ]
    ],
    "position_light": [
      363.556305,
      193.64357,
      397.787079
    ],
    "rotation_matrix_light": [
      [
        0.47131552555168577,
        0.37960739431942864,
        0.7960903852904846
      ],
      [
        0.6199990032433268,
        0.499360728861712,
        -0.6051777412033437
      ],
      [
        -0.6272662204767763,
        0.7788049105191324,
        2.5826148830621065e-07
      ]
    ],
    "servo_angle": [
      [
        58.245113,
        -15.019286,
        -54.974498,
        119.298522,
        37.109216,
        3.902759,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.819561,
        -34.965322,
        -45.611337,
        -247.866183,
        23.688023,
        117.412861,
        0.0
      ]
    ],
    "turn_angle": 114.3134124285227,
    "filename": "scan-0009_light-0_camera-9.png"
  },
  {
    "id": 10,
    "scan_id": "0010",
    "camera_id": 10,
    "light_id": 1,
    "position": [
      406.066437,
      -136.381149,
      381.440521
    ],
    "rotation_matrix": [
      [
        0.8542405836939662,
        -0.5198778754362159,
        0.00014071999959908155
      ],
      [
        -6.321547786330983e-05,
        0.00016680604185920211,
        0.9999999840897738
      ],
      [
        -0.5198778906377874,
        -0.8542405789984873,
        0.000109628162235198
      ]
    ],
    "position_light": [
      285.066528,
      212.180542,
      203.593094
    ],
    "rotation_matrix_light": [
      [
        0.25904213152623856,
        0.33780475683081196,
        0.9048674601049697
      ],
      [
        0.5506278222007188,
        0.7180488296594829,
        -0.42569341038256675
      ],
      [
        -0.7935402797040844,
        0.6085177273400691,
        2.0179212001369962e-07
      ]
    ],
    "servo_angle": [
      [
        66.567841,
        -20.354841,
        -55.101638,
        120.206087,
        27.491145,
        -1.164938,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.650413,
        -33.640243,
        -17.357699,
        -250.477954,
        68.442158,
        84.858143,
        0.0
      ]
    ],
    "turn_angle": 158.49918540113447,
    "filename": "scan-0010_light-1_camera-10.png"
  },
  {
    "id": 11,
    "scan_id": "0011",
    "camera_id": 11,
    "light_id": 1,
    "position": [
      381.713989,
      -136.381149,
      394.021515
    ],
    "rotation_matrix": [
      [
        0.8809496630349467,
        -0.4732099673698824,
        0.00013409104580097697
      ],
      [
        -6.254742086950205e-05,
        0.00016692360638748127,
        0.9999999841121646
      ],
      [
        -0.47320998223456134,
        -0.8809496574256127,
        0.0001174532318108934
      ]
    ],
    "position_light": [
      285.066528,
      212.180542,
      203.593094
    ],
    "rotation_matrix_light": [
      [
        0.25904213152623856,
        0.33780475683081196,
        0.9048674601049697
      ],
      [
        0.5506278222007188,
        0.7180488296594829,
        -0.42569341038256675
      ],
      [
        -0.7935402797040844,
        0.6085177273400691,
        2.0179212001369962e-07
      ]
    ],
    "servo_angle": [
      [
        70.912523,
        -22.173467,
        -55.658209,
        121.275971,
        22.638307,
        -4.421057,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.650413,
        -33.640243,
        -17.357699,
        -250.477954,
        68.442158,
        84.858143,
        0.0
      ]
    ],
    "turn_angle": 158.49918540113447,
    "filename": "scan-0011_light-1_camera-11.png"
  },
  {
    "id": 12,
    "scan_id": "0012",
    "camera_id": 12,
    "light_id": 1,
    "position": [
      365.891754,
      -136.381149,
      401.332947
    ],
    "rotation_matrix": [
      [
        0.8966120464807004,
        -0.4428169160143719,
        0.0001303733547199648
      ],
      [
        -6.276746655467513e-05,
        0.00016732713525247078,
        0.9999999840309376
      ],
      [
        -0.44281693075800077,
        -0.8966120403458516,
        0.00012223302920466583
      ]
    ],
    "position_light": [
      285.066528,
      212.180542,
      203.593094
    ],
    "rotation_matrix_light": [
      [
        0.25904213152623856,
        0.33780475683081196,
        0.9048674601049697
      ],
      [
        0.5506278222007188,
        0.7180488296594829,
        -0.42569341038256675
      ],
      [
        -0.7935402797040844,
        0.6085177273400691,
        2.0179212001369962e-07
      ]
    ],
    "servo_angle": [
      [
        73.806532,
        -23.088538,
        -56.213691,
        122.344767,
        19.449453,
        -6.976334,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.650413,
        -33.640243,
        -17.357699,
        -250.477954,
        68.442158,
        84.858143,
        0.0
      ]
    ],
    "turn_angle": 158.49918540113447,
    "filename": "scan-0012_light-1_camera-12.png"
  },
  {
    "id": 13,
    "scan_id": "0013",
    "camera_id": 13,
    "light_id": 1,
    "position": [
      338.554321,
      -136.381149,
      412.468506
    ],
    "rotation_matrix": [
      [
        0.9207401902624099,
        -0.3901762255291198,
        0.0001227493014140102
      ],
      [
        -6.260851701944681e-05,
        0.00016685568554025698,
        0.9999999841196769
      ],
      [
        -0.39017623981441407,
        -0.9207401833259099,
        0.0001292023807941134
      ]
    ],
    "position_light": [
      285.066528,
      212.180542,
      203.593094
    ],
    "rotation_matrix_light": [
      [
        0.25904213152623856,
        0.33780475683081196,
        0.9048674601049697
      ],
      [
        0.5506278222007188,
        0.7180488296594829,
        -0.42569341038256675
      ],
      [
        -0.7935402797040844,
        0.6085177273400691,
        2.0179212001369962e-07
      ]
    ],
    "servo_angle": [
      [
        78.827992,
        -24.170855,
        -57.590223,
        125.251324,
        13.96281,
        -12.57545,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.650413,
        -33.640243,
        -17.357699,
        -250.477954,
        68.442158,
        84.858143,
        0.0
      ]
    ],
    "turn_angle": 158.49918540113447,
    "filename": "scan-0013_light-1_camera-13.png"
  },
  {
    "id": 14,
    "scan_id": "0014",
    "camera_id": 14,
    "light_id": 1,
    "position": [
      284.346619,
      -136.381149,
      429.363983
    ],
    "rotation_matrix": [
      [
        0.958420694116868,
        -0.28535900433079797,
        0.00010833225288475745
      ],
      [
        -6.3263770930716e-05,
        0.00016715415733431493,
        0.9999999840285917
      ],
      [
        -0.28535901788139917,
        -0.9584206856630463,
        0.00014215111681387116
      ]
    ],
    "position_light": [
      285.066528,
      212.180542,
      203.593094
    ],
    "rotation_matrix_light": [
      [
        0.25904213152623856,
        0.33780475683081196,
        0.9048674601049697
      ],
      [
        0.5506278222007188,
        0.7180488296594829,
        -0.42569341038256675
      ],
      [
        -0.7935402797040844,
        0.6085177273400691,
        2.0179212001369962e-07
      ]
    ],
    "servo_angle": [
      [
        87.659334,
        -24.481398,
        -62.326521,
        138.67647,
        4.025831,
        -31.812966,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.650413,
        -33.640243,
        -17.357699,
        -250.477954,
        68.442158,
        84.858143,
        0.0
      ]
    ],
    "turn_angle": 158.49918540113447,
    "filename": "scan-0014_light-1_camera-14.png"
  },
  {
    "id": 15,
    "scan_id": "0015",
    "camera_id": 15,
    "light_id": 1,
    "position": [
      258.417908,
      -136.381149,
      435.171692
    ],
    "rotation_matrix": [
      [
        0.9719879800545381,
        -0.23503054379591776,
        0.00010056089504745236
      ],
      [
        -6.317539046647724e-05,
        0.00016659610555386228,
        0.9999999841273036
      ],
      [
        -0.23503055681840282,
        -0.971987970979442,
        0.00014708126574641822
      ]
    ],
    "position_light": [
      285.066528,
      212.180542,
      203.593094
    ],
    "rotation_matrix_light": [
      [
        0.25904213152623856,
        0.33780475683081196,
        0.9048674601049697
      ],
      [
        0.5506278222007188,
        0.7180488296594829,
        -0.42569341038256675
      ],
      [
        -0.7935402797040844,
        0.6085177273400691,
        2.0179212001369962e-07
      ]
    ],
    "servo_angle": [
      [
        90.186021,
        -23.925686,
        -65.510963,
        151.688514,
        0.452293,
        -47.807025,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.650413,
        -33.640243,
        -17.357699,
        -250.477954,
        68.442158,
        84.858143,
        0.0
      ]
    ],
    "turn_angle": 158.49918540113447,
    "filename": "scan-0015_light-1_camera-15.png"
  },
  {
    "id": 16,
    "scan_id": "0016",
    "camera_id": 16,
    "light_id": 1,
    "position": [
      216.023727,
      -136.381149,
      441.674591
    ],
    "rotation_matrix": [
      [
        0.9883048981447828,
        -0.1524907228669885,
        8.799167186457346e-05
      ],
      [
        -6.325272292730111e-05,
        0.00016708357132316776,
        0.9999999840410867
      ],
      [
        -0.15249073513536504,
        -0.9883048879382232,
        0.0001554840584956918
      ]
    ],
    "position_light": [
      285.066528,
      212.180542,
      203.593094
    ],
    "rotation_matrix_light": [
      [
        0.25904213152623856,
        0.33780475683081196,
        0.9048674601049697
      ],
      [
        0.5506278222007188,
        0.7180488296594829,
        -0.42569341038256675
      ],
      [
        -0.7935402797040844,
        0.6085177273400691,
        2.0179212001369962e-07
      ]
    ],
    "servo_angle": [
      [
        90.359627,
        -23.116498,
        -69.117618,
        184.246898,
        -2.292404,
        -85.241739,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.650413,
        -33.640243,
        -17.357699,
        -250.477954,
        68.442158,
        84.858143,
        0.0
      ]
    ],
    "turn_angle": 158.49918540113447,
    "filename": "scan-0016_light-1_camera-16.png"
  },
  {
    "id": 17,
    "scan_id": "0017",
    "camera_id": 17,
    "light_id": 1,
    "position": [
      194.883224,
      -136.381149,
      443.567566
    ],
    "rotation_matrix": [
      [
        0.9937960951126401,
        -0.11121742139635704,
        8.072678181987591e-05
      ],
      [
        -6.261550045382619e-05,
        0.00016633851484798567,
        0.9999999842053986
      ],
      [
        -0.11121743306769521,
        -0.9937960844707749,
        0.000158342632022912
      ]
    ],
    "position_light": [
      285.066528,
      212.180542,
      203.593094
    ],
    "rotation_matrix_light": [
      [
        0.25904213152623856,
        0.33780475683081196,
        0.9048674601049697
      ],
      [
        0.5506278222007188,
        0.7180488296594829,
        -0.42569341038256675
      ],
      [
        -0.7935402797040844,
        0.6085177273400691,
        2.0179212001369962e-07
      ]
    ],
    "servo_angle": [
      [
        89.809129,
        -23.242434,
        -68.583908,
        202.467242,
        -1.937743,
        -105.831264,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.650413,
        -33.640243,
        -17.357699,
        -250.477954,
        68.442158,
        84.858143,
        0.0
      ]
    ],
    "turn_angle": 158.49918540113447,
    "filename": "scan-0017_light-1_camera-17.png"
  },
  {
    "id": 18,
    "scan_id": "0018",
    "camera_id": 18,
    "light_id": 1,
    "position": [
      169.251068,
      -136.381149,
      444.678528
    ],
    "rotation_matrix": [
      [
        0.9981331797303236,
        -0.061074955547381723,
        7.298163181288994e-05
      ],
      [
        -6.28887644817111e-05,
        0.00016717602322879888,
        0.9999999840485899
      ],
      [
        -0.061074966773929054,
        -0.9981331683984168,
        0.00016302300714488016
      ]
    ],
    "position_light": [
      285.066528,
      212.180542,
      203.593094
    ],
    "rotation_matrix_light": [
      [
        0.25904213152623856,
        0.33780475683081196,
        0.9048674601049697
      ],
      [
        0.5506278222007188,
        0.7180488296594829,
        -0.42569341038256675
      ],
      [
        -0.7935402797040844,
        0.6085177273400691,
        2.0179212001369962e-07
      ]
    ],
    "servo_angle": [
      [
        90.582622,
        -23.755919,
        -66.300384,
        221.375537,
        0.081188,
        -127.594091,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.650413,
        -33.640243,
        -17.357699,
        -250.477954,
        68.442158,
        84.858143,
        0.0
      ]
    ],
    "turn_angle": 158.49918540113447,
    "filename": "scan-0018_light-1_camera-18.png"
  },
  {
    "id": 19,
    "scan_id": "0019",
    "camera_id": 19,
    "light_id": 1,
    "position": [
      136.155533,
      -136.381149,
      444.204529
    ],
    "rotation_matrix": [
      [
        0.9999926712483593,
        0.0038279968742058086,
        6.236586834385818e-05
      ],
      [
        -6.300592432221413e-05,
        0.0001670835266909254,
        0.999999984056674
      ],
      [
        0.0038279863928655793,
        -0.9999926592345696,
        0.00016732348865866609
      ]
    ],
    "position_light": [
      285.066528,
      212.180542,
      203.593094
    ],
    "rotation_matrix_light": [
      [
        0.25904213152623856,
        0.33780475683081196,
        0.9048674601049697
      ],
      [
        0.5506278222007188,
        0.7180488296594829,
        -0.42569341038256675
      ],
      [
        -0.7935402797040844,
        0.6085177273400691,
        2.0179212001369962e-07
      ]
    ],
    "servo_angle": [
      [
        94.47398,
        -24.212108,
        -63.349766,
        237.155654,
        4.757326,
        -146.927406,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.650413,
        -33.640243,
        -17.357699,
        -250.477954,
        68.442158,
        84.858143,
        0.0
      ]
    ],
    "turn_angle": 158.49918540113447,
    "filename": "scan-0019_light-1_camera-19.png"
  },
  {
    "id": 20,
    "scan_id": "0020",
    "camera_id": 20,
    "light_id": 2,
    "position": [
      140.089508,
      -136.381149,
      444.373535
    ],
    "rotation_matrix": [
      [
        0.9999924086409864,
        -0.0038959733719454064,
        6.36544036073767e-05
      ],
      [
        -6.300590777627221e-05,
        0.0001665753484808019,
        0.9999999841414541
      ],
      [
        -0.0038959839134153984,
        -0.9999923967931647,
        0.00016632861460857962
      ]
    ],
    "position_light": [
      530.572693,
      194.185608,
      336.472687
    ],
    "rotation_matrix_light": [
      [
        0.5082389415202937,
        0.6141088536578522,
        0.6037909358224668
      ],
      [
        0.38496231353729754,
        0.4651532127562125,
        -0.797142713583073
      ],
      [
        -0.7703876916711111,
        0.6375757245391424,
        2.1142811695851194e-07
      ]
    ],
    "servo_angle": [
      [
        93.88475,
        -24.193315,
        -63.635615,
        235.758267,
        4.114582,
        -145.118865,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.844473,
        -11.067367,
        -62.402552,
        -157.945213,
        17.787417,
        18.702374,
        0.0
      ]
    ],
    "turn_angle": 192.61770509713415,
    "filename": "scan-0020_light-2_camera-20.png"
  },
  {
    "id": 21,
    "scan_id": "0021",
    "camera_id": 21,
    "light_id": 2,
    "position": [
      102.5308,
      -136.381149,
      441.512695
    ],
    "rotation_matrix": [
      [
        0.9975500894338061,
        0.06995581796689118,
        5.102144973943151e-05
      ],
      [
        -6.285202606937795e-05,
        0.00016691385560257954,
        0.9999999840946935
      ],
      [
        0.06995580833803558,
        -0.9975500767742679,
        0.00017090179647866188
      ]
    ],
    "position_light": [
      530.572693,
      194.185608,
      336.472687
    ],
    "rotation_matrix_light": [
      [
        0.5082389415202937,
        0.6141088536578522,
        0.6037909358224668
      ],
      [
        0.38496231353729754,
        0.4651532127562125,
        -0.797142713583073
      ],
      [
        -0.7703876916711111,
        0.6375757245391424,
        2.1142811695851194e-07
      ]
    ],
    "servo_angle": [
      [
        100.213412,
        -23.889303,
        -61.698731,
        245.411918,
        10.762611,
        -158.586238,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.844473,
        -11.067367,
        -62.402552,
        -157.945213,
        17.787417,
        18.702374,
        0.0
      ]
    ],
    "turn_angle": 192.61770509713415,
    "filename": "scan-0021_light-2_camera-21.png"
  },
  {
    "id": 22,
    "scan_id": "0022",
    "camera_id": 22,
    "light_id": 2,
    "position": [
      50.934837,
      -136.381149,
      432.958435
    ],
    "rotation_matrix": [
      [
        0.9851321120148677,
        0.17179848882871968,
        3.3366068025911244e-05
      ],
      [
        -6.304966073225615e-05,
        0.00016732497557142567,
        0.9999999840135464
      ],
      [
        0.17179848049929458,
        -0.9851320983698181,
        0.0001756690430125274
      ]
    ],
    "position_light": [
      530.572693,
      194.185608,
      336.472687
    ],
    "rotation_matrix_light": [
      [
        0.5082389415202937,
        0.6141088536578522,
        0.6037909358224668
      ],
      [
        0.38496231353729754,
        0.4651532127562125,
        -0.797142713583073
      ],
      [
        -0.7703876916711111,
        0.6375757245391424,
        2.1142811695851194e-07
      ]
    ],
    "servo_angle": [
      [
        109.718266,
        -21.734581,
        -61.223978,
        250.758016,
        20.519681,
        -168.836281,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.844473,
        -11.067367,
        -62.402552,
        -157.945213,
        17.787417,
        18.702374,
        0.0
      ]
    ],
    "turn_angle": 192.61770509713415,
    "filename": "scan-0022_light-2_camera-22.png"
  },
  {
    "id": 23,
    "scan_id": "0023",
    "camera_id": 23,
    "light_id": 2,
    "position": [
      41.573631,
      -136.381149,
      430.815521
    ],
    "rotation_matrix": [
      [
        0.981720792751443,
        0.19032678263265038,
        2.9869431195317375e-05
      ],
      [
        -6.283133212481307e-05,
        0.000167151433046131,
        0.9999999840563113
      ],
      [
        0.1903267746054211,
        -0.981720778975928,
        0.0001760545226514587
      ]
    ],
    "position_light": [
      530.572693,
      194.185608,
      336.472687
    ],
    "rotation_matrix_light": [
      [
        0.5082389415202937,
        0.6141088536578522,
        0.6037909358224668
      ],
      [
        0.38496231353729754,
        0.4651532127562125,
        -0.797142713583073
      ],
      [
        -0.7703876916711111,
        0.6375757245391424,
        2.1142811695851194e-07
      ]
    ],
    "servo_angle": [
      [
        111.402591,
        -21.143575,
        -61.323444,
        251.245259,
        22.25729,
        -170.176429,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.844473,
        -11.067367,
        -62.402552,
        -157.945213,
        17.787417,
        18.702374,
        0.0
      ]
    ],
    "turn_angle": 192.61770509713415,
    "filename": "scan-0023_light-2_camera-23.png"
  },
  {
    "id": 24,
    "scan_id": "0024",
    "camera_id": 24,
    "light_id": 2,
    "position": [
      -8.531068,
      -136.381149,
      416.097809
    ],
    "rotation_matrix": [
      [
        0.9570976168293956,
        0.2897656841572328,
        1.2015921397573459e-05
      ],
      [
        -6.317643677891671e-05,
        0.00016720439487560856,
        0.9999999840257141
      ],
      [
        0.28976567751931803,
        -0.9570976022995676,
        0.00017833729128469145
      ]
    ],
    "position_light": [
      530.572693,
      194.185608,
      336.472687
    ],
    "rotation_matrix_light": [
      [
        0.5082389415202937,
        0.6141088536578522,
        0.6037909358224668
      ],
      [
        0.38496231353729754,
        0.4651532127562125,
        -0.797142713583073
      ],
      [
        -0.7703876916711111,
        0.6375757245391424,
        2.1142811695851194e-07
      ]
    ],
    "servo_angle": [
      [
        119.877324,
        -17.040223,
        -62.561434,
        252.645797,
        31.090409,
        -175.958032,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.844473,
        -11.067367,
        -62.402552,
        -157.945213,
        17.787417,
        18.702374,
        0.0
      ]
    ],
    "turn_angle": 192.61770509713415,
    "filename": "scan-0024_light-2_camera-24.png"
  },
  {
    "id": 25,
    "scan_id": "0025",
    "camera_id": 25,
    "light_id": 2,
    "position": [
      -45.081429,
      -136.381149,
      401.68988
    ],
    "rotation_matrix": [
      [
        0.9319391592732897,
        0.3626146762161745,
        -2.3733347019883055e-06
      ],
      [
        -6.244289663576152e-05,
        0.0001670266517879715,
        0.9999999841014908
      ],
      [
        0.36261467084755195,
        -0.9319391443086487,
        0.00017830138818913932
      ]
    ],
    "position_light": [
      530.572693,
      194.185608,
      336.472687
    ],
    "rotation_matrix_light": [
      [
        0.5082389415202937,
        0.6141088536578522,
        0.6037909358224668
      ],
      [
        0.38496231353729754,
        0.4651532127562125,
        -0.797142713583073
      ],
      [
        -0.7703876916711111,
        0.6375757245391424,
        2.1142811695851194e-07
      ]
    ],
    "servo_angle": [
      [
        125.371473,
        -13.130875,
        -64.103721,
        252.950668,
        36.924265,
        -179.284109,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.844473,
        -11.067367,
        -62.402552,
        -157.945213,
        17.787417,
        18.702374,
        0.0
      ]
    ],
    "turn_angle": 192.61770509713415,
    "filename": "scan-0025_light-2_camera-25.png"
  },
  {
    "id": 26,
    "scan_id": "0026",
    "camera_id": 26,
    "light_id": 2,
    "position": [
      -66.890129,
      -136.381149,
      391.485138
    ],
    "rotation_matrix": [
      [
        0.9137767456932402,
        0.406216763468919,
        -1.0349310028717751e-05
      ],
      [
        -6.304407605861595e-05,
        0.00016729373731172448,
        0.999999984019125
      ],
      [
        0.4062167587085944,
        -0.9137767304378254,
        0.00017847868738807282
      ]
    ],
    "position_light": [
      530.572693,
      194.185608,
      336.472687
    ],
    "rotation_matrix_light": [
      [
        0.5082389415202937,
        0.6141088536578522,
        0.6037909358224668
      ],
      [
        0.38496231353729754,
        0.4651532127562125,
        -0.797142713583073
      ],
      [
        -0.7703876916711111,
        0.6375757245391424,
        2.1142811695851194e-07
      ]
    ],
    "servo_angle": [
      [
        128.358302,
        -10.459918,
        -65.256226,
        252.993812,
        40.142397,
        -181.076894,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.844473,
        -11.067367,
        -62.402552,
        -157.945213,
        17.787417,
        18.702374,
        0.0
      ]
    ],
    "turn_angle": 192.61770509713415,
    "filename": "scan-0026_light-2_camera-26.png"
  },
  {
    "id": 27,
    "scan_id": "0027",
    "camera_id": 27,
    "light_id": 2,
    "position": [
      -96.582352,
      -136.381149,
      375.480774
    ],
    "rotation_matrix": [
      [
        0.884911665001173,
        0.4657588911092736,
        -2.2304968294611927e-05
      ],
      [
        -6.282872298565834e-05,
        0.00016726001219252717,
        0.9999999840383198
      ],
      [
        0.4657588874057085,
        -0.8849116494751033,
        0.0001772733722250064
      ]
    ],
    "position_light": [
      530.572693,
      194.185608,
      336.472687
    ],
    "rotation_matrix_light": [
      [
        0.5082389415202937,
        0.6141088536578522,
        0.6037909358224668
      ],
      [
        0.38496231353729754,
        0.4651532127562125,
        -0.797142713583073
      ],
      [
        -0.7703876916711111,
        0.6375757245391424,
        2.1142811695851194e-07
      ]
    ],
    "servo_angle": [
      [
        132.085507,
        -6.433571,
        -67.100119,
        252.962012,
        44.215382,
        -183.389466,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.844473,
        -11.067367,
        -62.402552,
        -157.945213,
        17.787417,
        18.702374,
        0.0
      ]
    ],
    "turn_angle": 192.61770509713415,
    "filename": "scan-0027_light-2_camera-27.png"
  },
  {
    "id": 28,
    "scan_id": "0028",
    "camera_id": 28,
    "light_id": 2,
    "position": [
      -137.655487,
      -136.381149,
      348.834534
    ],
    "rotation_matrix": [
      [
        0.8361484887111867,
        0.5485031479253003,
        -3.926874890725074e-05
      ],
      [
        -6.270845938849412e-05,
        0.00016718651875596846,
        0.9999999840581585
      ],
      [
        0.5485031457463554,
        -0.8361484729189573,
        0.00017418854236689318
      ]
    ],
    "position_light": [
      530.572693,
      194.185608,
      336.472687
    ],
    "rotation_matrix_light": [
      [
        0.5082389415202937,
        0.6141088536578522,
        0.6037909358224668
      ],
      [
        0.38496231353729754,
        0.4651532127562125,
        -0.797142713583073
      ],
      [
        -0.7703876916711111,
        0.6375757245391424,
        2.1142811695851194e-07
      ]
    ],
    "servo_angle": [
      [
        136.642069,
        -0.12542,
        -70.194205,
        252.832066,
        49.3017,
        -186.49908,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.844473,
        -11.067367,
        -62.402552,
        -157.945213,
        17.787417,
        18.702374,
        0.0
      ]
    ],
    "turn_angle": 192.61770509713415,
    "filename": "scan-0028_light-2_camera-28.png"
  },
  {
    "id": 29,
    "scan_id": "0029",
    "camera_id": 29,
    "light_id": 2,
    "position": [
      -148.310623,
      -136.381149,
      340.958588
    ],
    "rotation_matrix": [
      [
        0.8216104035869911,
        0.5700494214344015,
        -4.289435638465955e-05
      ],
      [
        -6.326722733496215e-05,
        0.00016643358333828795,
        0.9999999841485602
      ],
      [
        0.5700494195373589,
        -0.8216103878494762,
        0.00017280900991506476
      ]
    ],
    "position_light": [
      530.572693,
      194.185608,
      336.472687
    ],
    "rotation_matrix_light": [
      [
        0.5082389415202937,
        0.6141088536578522,
        0.6037909358224668
      ],
      [
        0.38496231353729754,
        0.4651532127562125,
        -0.797142713583073
      ],
      [
        -0.7703876916711111,
        0.6375757245391424,
        2.1142811695851194e-07
      ]
    ],
    "servo_angle": [
      [
        137.719631,
        1.655963,
        -71.107729,
        252.790813,
        50.525538,
        -187.311477,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.844473,
        -11.067367,
        -62.402552,
        -157.945213,
        17.787417,
        18.702374,
        0.0
      ]
    ],
    "turn_angle": 192.61770509713415,
    "filename": "scan-0029_light-2_camera-29.png"
  },
  {
    "id": 30,
    "scan_id": "0030",
    "camera_id": 30,
    "light_id": 3,
    "position": [
      -186.6306,
      -136.381149,
      308.771393
    ],
    "rotation_matrix": [
      [
        0.7617560371966106,
        0.6478639797257577,
        -5.973624814109568e-05
      ],
      [
        -6.323173804451132e-05,
        0.0001665525615989205,
        0.9999999841309959
      ],
      [
        0.6478639793940266,
        -0.7617560213310739,
        0.0001678379847630529
      ]
    ],
    "position_light": [
      -148.583038,
      210.008926,
      138.408615
    ],
    "rotation_matrix_light": [
      [
        0.2998192247593223,
        -0.6438262488789087,
        -0.7039859328986854
      ],
      [
        -0.2971898818429899,
        0.63818051352999,
        -0.7102139158596852
      ],
      [
        0.9065244655247141,
        0.42215328188362067,
        1.3999132958408822e-07
      ]
    ],
    "servo_angle": [
      [
        141.276152,
        8.605654,
        -74.823704,
        252.634166,
        54.636969,
        -190.336465,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -140.372483,
        6.714263,
        -48.599827,
        -187.430939,
        48.568601,
        160.411166,
        0.0
      ]
    ],
    "turn_angle": 217.60678353035016,
    "filename": "scan-0030_light-3_camera-30.png"
  },
  {
    "id": 31,
    "scan_id": "0031",
    "camera_id": 31,
    "light_id": 3,
    "position": [
      -194.243454,
      -136.381149,
      301.564331
    ],
    "rotation_matrix": [
      [
        0.7482725867503156,
        0.6633913866549394,
        -6.348250324994531e-05
      ],
      [
        -6.285691545016014e-05,
        0.0001665933733627778,
        0.999999984147828
      ],
      [
        0.6633913867145093,
        -0.7482725708982554,
        0.00016635599072289953
      ]
    ],
    "position_light": [
      -148.583038,
      210.008926,
      138.408615
    ],
    "rotation_matrix_light": [
      [
        0.2998192247593223,
        -0.6438262488789087,
        -0.7039859328986854
      ],
      [
        -0.2971898818429899,
        0.63818051352999,
        -0.7102139158596852
      ],
      [
        0.9065244655247141,
        0.42215328188362067,
        1.3999132958408822e-07
      ]
    ],
    "servo_angle": [
      [
        141.927605,
        10.097636,
        -75.651743,
        252.602481,
        55.404102,
        -190.967406,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -140.372483,
        6.714263,
        -48.599827,
        -187.430939,
        48.568601,
        160.411166,
        0.0
      ]
    ],
    "turn_angle": 217.60678353035016,
    "filename": "scan-0031_light-3_camera-31.png"
  },
  {
    "id": 32,
    "scan_id": "0032",
    "camera_id": 32,
    "light_id": 3,
    "position": [
      -233.082642,
      -136.381149,
      259.567169
    ],
    "rotation_matrix": [
      [
        0.6692354099347759,
        0.7430504420495206,
        -8.160541876511829e-05
      ],
      [
        -6.291042654726908e-05,
        0.00016648573982547266,
        0.9999999841623883
      ],
      [
        0.7430504438675147,
        -0.6692353942018536,
        0.00015816377259592063
      ]
    ],
    "position_light": [
      -148.583038,
      210.008926,
      138.408615
    ],
    "rotation_matrix_light": [
      [
        0.2998192247593223,
        -0.6438262488789087,
        -0.7039859328986854
      ],
      [
        -0.2971898818429899,
        0.63818051352999,
        -0.7102139158596852
      ],
      [
        0.9065244655247141,
        0.42215328188362067,
        1.3999132958408822e-07
      ]
    ],
    "servo_angle": [
      [
        144.999174,
        18.413087,
        -80.453645,
        252.438616,
        59.097732,
        -194.444171,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -140.372483,
        6.714263,
        -48.599827,
        -187.430939,
        48.568601,
        160.411166,
        0.0
      ]
    ],
    "turn_angle": 217.60678353035016,
    "filename": "scan-0032_light-3_camera-32.png"
  },
  {
    "id": 33,
    "scan_id": "0033",
    "camera_id": 33,
    "light_id": 3,
    "position": [
      -242.541733,
      -136.381149,
      247.758652
    ],
    "rotation_matrix": [
      [
        0.6468886456847693,
        0.7625844690986696,
        -8.702657592191132e-05
      ],
      [
        -6.275169191433116e-05,
        0.0001673518629085602,
        0.9999999840277893
      ],
      [
        0.7625844714825696,
        -0.6468886298914629,
        0.00015611148561328614
      ]
    ],
    "position_light": [
      -148.583038,
      210.008926,
      138.408615
    ],
    "rotation_matrix_light": [
      [
        0.2998192247593223,
        -0.6438262488789087,
        -0.7039859328986854
      ],
      [
        -0.2971898818429899,
        0.63818051352999,
        -0.7102139158596852
      ],
      [
        0.9065244655247141,
        0.42215328188362067,
        1.3999132958408822e-07
      ]
    ],
    "servo_angle": [
      [
        145.688557,
        20.651404,
        -81.799236,
        252.397363,
        59.948058,
        -195.379296,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -140.372483,
        6.714263,
        -48.599827,
        -187.430939,
        48.568601,
        160.411166,
        0.0
      ]
    ],
    "turn_angle": 217.60678353035016,
    "filename": "scan-0033_light-3_camera-33.png"
  },
  {
    "id": 34,
    "scan_id": "0034",
    "camera_id": 34,
    "light_id": 3,
    "position": [
      -259.418152,
      -136.381149,
      224.734772
    ],
    "rotation_matrix": [
      [
        0.603186588510294,
        0.7976001067516625,
        -9.566111920833453e-05
      ],
      [
        -6.273392079553242e-05,
        0.0001673788358583228,
        0.99999998402439
      ],
      [
        0.7976001100211612,
        -0.6031865728728234,
        0.00015099725091366478
      ]
    ],
    "position_light": [
      -148.583038,
      210.008926,
      138.408615
    ],
    "rotation_matrix_light": [
      [
        0.2998192247593223,
        -0.6438262488789087,
        -0.7039859328986854
      ],
      [
        -0.2971898818429899,
        0.63818051352999,
        -0.7102139158596852
      ],
      [
        0.9065244655247141,
        0.42215328188362067,
        1.3999132958408822e-07
      ]
    ],
    "servo_angle": [
      [
        146.867303,
        24.912205,
        -84.421607,
        252.320357,
        61.425602,
        -197.169789,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -140.372483,
        6.714263,
        -48.599827,
        -187.430939,
        48.568601,
        160.411166,
        0.0
      ]
    ],
    "turn_angle": 217.60678353035016,
    "filename": "scan-0034_light-3_camera-34.png"
  },
  {
    "id": 35,
    "scan_id": "0035",
    "camera_id": 35,
    "light_id": 3,
    "position": [
      -278.253906,
      -136.381149,
      195.367722
    ],
    "rotation_matrix": [
      [
        0.5472176064246392,
        0.8369903703793476,
        -0.00010540934843000782
      ],
      [
        -6.29298851549942e-05,
        0.00016708159714384774,
        0.9999999840617845
      ],
      [
        0.8369903746511771,
        -0.547217591069569,
        0.0001441016995504807
      ]
    ],
    "position_light": [
      -148.583038,
      210.008926,
      138.408615
    ],
    "rotation_matrix_light": [
      [
        0.2998192247593223,
        -0.6438262488789087,
        -0.7039859328986854
      ],
      [
        -0.2971898818429899,
        0.63818051352999,
        -0.7102139158596852
      ],
      [
        0.9065244655247141,
        0.42215328188362067,
        1.3999132958408822e-07
      ]
    ],
    "servo_angle": [
      [
        148.111137,
        30.177916,
        -87.772436,
        252.225189,
        63.025644,
        -199.412517,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -140.372483,
        6.714263,
        -48.599827,
        -187.430939,
        48.568601,
        160.411166,
        0.0
      ]
    ],
    "turn_angle": 217.60678353035016,
    "filename": "scan-0035_light-3_camera-35.png"
  },
  {
    "id": 36,
    "scan_id": "0036",
    "camera_id": 36,
    "light_id": 3,
    "position": [
      -302.475983,
      -136.381149,
      149.415009
    ],
    "rotation_matrix": [
      [
        0.4591963520931619,
        0.888334788260515,
        -0.0001191237969881409
      ],
      [
        -6.291373321237748e-05,
        0.0001666191100951342,
        0.9999999841399672
      ],
      [
        0.888334794019797,
        -0.45919633731576975,
        0.0001323993454165895
      ]
    ],
    "position_light": [
      -148.583038,
      210.008926,
      138.408615
    ],
    "rotation_matrix_light": [
      [
        0.2998192247593223,
        -0.6438262488789087,
        -0.7039859328986854
      ],
      [
        -0.2971898818429899,
        0.63818051352999,
        -0.7102139158596852
      ],
      [
        0.9065244655247141,
        0.42215328188362067,
        1.3999132958408822e-07
      ]
    ],
    "servo_angle": [
      [
        149.612745,
        38.124898,
        -93.060206,
        252.073641,
        65.038445,
        -202.884298,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -140.372483,
        6.714263,
        -48.599827,
        -187.430939,
        48.568601,
        160.411166,
        0.0
      ]
    ],
    "turn_angle": 217.60678353035016,
    "filename": "scan-0036_light-3_camera-36.png"
  },
  {
    "id": 37,
    "scan_id": "0037",
    "camera_id": 37,
    "light_id": 3,
    "position": [
      -317.274597,
      -136.381149,
      114.072021
    ],
    "rotation_matrix": [
      [
        0.3911743988899597,
        0.9203165614055446,
        -0.00012827997914316436
      ],
      [
        -6.298166970780672e-05,
        0.00016615673380199203,
        0.9999999842126244
      ],
      [
        0.9203165681907439,
        -0.3911743846350552,
        0.00012295933416356375
      ]
    ],
    "position_light": [
      -148.583038,
      210.008926,
      138.408615
    ],
    "rotation_matrix_light": [
      [
        0.2998192247593223,
        -0.6438262488789087,
        -0.7039859328986854
      ],
      [
        -0.2971898818429899,
        0.63818051352999,
        -0.7102139158596852
      ],
      [
        0.9065244655247141,
        0.42215328188362067,
        1.3999132958408822e-07
      ]
    ],
    "servo_angle": [
      [
        150.484729,
        44.063548,
        -97.196446,
        251.948221,
        66.272195,
        -205.561099,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -140.372483,
        6.714263,
        -48.599827,
        -187.430939,
        48.568601,
        160.411166,
        0.0
      ]
    ],
    "turn_angle": 217.60678353035016,
    "filename": "scan-0037_light-3_camera-37.png"
  },
  {
    "id": 38,
    "scan_id": "0038",
    "camera_id": 38,
    "light_id": 3,
    "position": [
      -323.913513,
      -136.381149,
      95.267036
    ],
    "rotation_matrix": [
      [
        0.3548787047374644,
        0.9349123419054541,
        -0.0001337038454772843
      ],
      [
        -6.281134514446451e-05,
        0.000166854415294293,
        0.9999999841071692
      ],
      [
        0.9349123493561275,
        -0.35487869069931893,
        0.00011793618056665789
      ]
    ],
    "position_light": [
      -148.583038,
      210.008926,
      138.408615
    ],
    "rotation_matrix_light": [
      [
        0.2998192247593223,
        -0.6438262488789087,
        -0.7039859328986854
      ],
      [
        -0.2971898818429899,
        0.63818051352999,
        -0.7102139158596852
      ],
      [
        0.9065244655247141,
        0.42215328188362067,
        1.3999132958408822e-07
      ]
    ],
    "servo_angle": [
      [
        150.867293,
        47.181929,
        -99.433674,
        251.87683,
        66.837647,
        -206.997677,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -140.372483,
        6.714263,
        -48.599827,
        -187.430939,
        48.568601,
        160.411166,
        0.0
      ]
    ],
    "turn_angle": 217.60678353035016,
    "filename": "scan-0038_light-3_camera-38.png"
  },
  {
    "id": 39,
    "scan_id": "0039",
    "camera_id": 39,
    "light_id": 3,
    "position": [
      -337.248779,
      -136.381149,
      47.256191
    ],
    "rotation_matrix": [
      [
        0.2619066738498841,
        0.9650931941202692,
        -0.00014441477457011187
      ],
      [
        -6.28576619755572e-05,
        0.0001666964542206273,
        0.9999999841306032
      ],
      [
        0.9650932028782531,
        -0.261906660616008,
        0.00010432241563840261
      ]
    ],
    "position_light": [
      -148.583038,
      210.008926,
      138.408615
    ],
    "rotation_matrix_light": [
      [
        0.2998192247593223,
        -0.6438262488789087,
        -0.7039859328986854
      ],
      [
        -0.2971898818429899,
        0.63818051352999,
        -0.7102139158596852
      ],
      [
        0.9065244655247141,
        0.42215328188362067,
        1.3999132958408822e-07
      ]
    ],
    "servo_angle": [
      [
        151.62778,
        55.074823,
        -105.308038,
        251.676925,
        68.037535,
        -210.734851,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -140.372483,
        6.714263,
        -48.599827,
        -187.430939,
        48.568601,
        160.411166,
        0.0
      ]
    ],
    "turn_angle": 217.60678353035016,
    "filename": "scan-0039_light-3_camera-39.png"
  },
  {
    "id": 40,
    "scan_id": "0040",
    "camera_id": 40,
    "light_id": 4,
    "position": [
      -335.723846,
      -136.381149,
      53.809582
    ],
    "rotation_matrix": [
      [
        0.274621756098959,
        0.9615523234745302,
        -0.0001424705439719287
      ],
      [
        -6.288966055428835e-05,
        0.00016612867219628624,
        0.9999999842230771
      ],
      [
        0.961552331972636,
        -0.2746217428063486,
        0.00010609424692548108
      ]
    ],
    "position_light": [
      -20.982933,
      219.834671,
      114.788734
    ],
    "rotation_matrix_light": [
      [
        0.2202051594527646,
        -0.4550601927048071,
        -0.8628035168946905
      ],
      [
        -0.37582363245506084,
        0.7766508263397076,
        -0.5055394062129408
      ],
      [
        0.9001479239762017,
        0.4355843373691406,
        1.444452361609727e-07
      ]
    ],
    "servo_angle": [
      [
        151.540748,
        54.000126,
        -104.489683,
        251.705803,
        67.892806,
        -210.217241,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -125.282837,
        -6.576983,
        -27.282531,
        -151.097049,
        59.51347,
        139.092208,
        0.0
      ]
    ],
    "turn_angle": 248.35231475422853,
    "filename": "scan-0040_light-4_camera-40.png"
  },
  {
    "id": 41,
    "scan_id": "0041",
    "camera_id": 41,
    "light_id": 4,
    "position": [
      -323.288361,
      -136.381149,
      97.142502
    ],
    "rotation_matrix": [
      [
        0.35850161678617376,
        0.9335290959454765,
        -0.00013336011625164623
      ],
      [
        -6.273927641370358e-05,
        0.0001669495325190007,
        0.9999999840958181
      ],
      [
        0.9335291033628691,
        -0.3585016027175817,
        0.00011842061732048048
      ]
    ],
    "position_light": [
      -20.982933,
      219.834671,
      114.788734
    ],
    "rotation_matrix_light": [
      [
        0.2202051594527646,
        -0.4550601927048071,
        -0.8628035168946905
      ],
      [
        -0.37582363245506084,
        0.7766508263397076,
        -0.5055394062129408
      ],
      [
        0.9001479239762017,
        0.4355843373691406,
        1.444452361609727e-07
      ]
    ],
    "servo_angle": [
      [
        150.831426,
        46.871901,
        -99.209189,
        251.884164,
        66.783846,
        -206.853864,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -125.282837,
        -6.576983,
        -27.282531,
        -151.097049,
        59.51347,
        139.092208,
        0.0
      ]
    ],
    "turn_angle": 248.35231475422853,
    "filename": "scan-0041_light-4_camera-41.png"
  },
  {
    "id": 42,
    "scan_id": "0042",
    "camera_id": 42,
    "light_id": 4,
    "position": [
      -308.424164,
      -136.381149,
      136.088577
    ],
    "rotation_matrix": [
      [
        0.4335786201923373,
        0.9011157334106219,
        -0.00012293065577440032
      ],
      [
        -6.286974769198483e-05,
        0.0001666707468437334,
        0.9999999841341285
      ],
      [
        0.9011157396025795,
        -0.4335786055846153,
        0.00012891779124368785
      ]
    ],
    "position_light": [
      -20.982933,
      219.834671,
      114.788734
    ],
    "rotation_matrix_light": [
      [
        0.2202051594527646,
        -0.4550601927048071,
        -0.8628035168946905
      ],
      [
        -0.37582363245506084,
        0.7766508263397076,
        -0.5055394062129408
      ],
      [
        0.9001479239762017,
        0.4355843373691406,
        1.444452361609727e-07
      ]
    ],
    "servo_angle": [
      [
        149.966833,
        40.378341,
        -94.610802,
        252.027518,
        65.531876,
        -203.891157,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -125.282837,
        -6.576983,
        -27.282531,
        -151.097049,
        59.51347,
        139.092208,
        0.0
      ]
    ],
    "turn_angle": 248.35231475422853,
    "filename": "scan-0042_light-4_camera-42.png"
  },
  {
    "id": 43,
    "scan_id": "0043",
    "camera_id": 43,
    "light_id": 4,
    "position": [
      -302.191132,
      -136.381149,
      150.028351
    ],
    "rotation_matrix": [
      [
        0.4603738768218302,
        0.8877251147688734,
        -0.00011894801080553075
      ],
      [
        -6.30750639292188e-05,
        0.0001667026404524874,
        0.999999984115883
      ],
      [
        0.8877251204970911,
        -0.4603738620065442,
        0.000132738859227155
      ]
    ],
    "position_light": [
      -20.982933,
      219.834671,
      114.788734
    ],
    "rotation_matrix_light": [
      [
        0.2202051594527646,
        -0.4550601927048071,
        -0.8628035168946905
      ],
      [
        -0.37582363245506084,
        0.7766508263397076,
        -0.5055394062129408
      ],
      [
        0.9001479239762017,
        0.4355843373691406,
        1.444452361609727e-07
      ]
    ],
    "servo_angle": [
      [
        149.595671,
        38.020677,
        -92.989045,
        252.075704,
        65.014896,
        -202.838003,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -125.282837,
        -6.576983,
        -27.282531,
        -151.097049,
        59.51347,
        139.092208,
        0.0
      ]
    ],
    "turn_angle": 248.35231475422853,
    "filename": "scan-0043_light-4_camera-43.png"
  },
  {
    "id": 44,
    "scan_id": "0044",
    "camera_id": 44,
    "light_id": 4,
    "position": [
      -280.006897,
      -136.381149,
      192.39418
    ],
    "rotation_matrix": [
      [
        0.5415370035351907,
        0.8406769073306875,
        -0.00010622164306861581
      ],
      [
        -6.281535869151478e-05,
        0.0001668161469406404,
        0.9999999841133017
      ],
      [
        0.8406769116945924,
        -0.5415369882596052,
        0.00014314453783320635
      ]
    ],
    "position_light": [
      -20.982933,
      219.834671,
      114.788734
    ],
    "rotation_matrix_light": [
      [
        0.2202051594527646,
        -0.4550601927048071,
        -0.8628035168946905
      ],
      [
        -0.37582363245506084,
        0.7766508263397076,
        -0.5055394062129408
      ],
      [
        0.9001479239762017,
        0.4355843373691406,
        1.444452361609727e-07
      ]
    ],
    "servo_angle": [
      [
        148.223322,
        30.702001,
        -88.112601,
        252.215563,
        63.17255,
        -199.637976,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -125.282837,
        -6.576983,
        -27.282531,
        -151.097049,
        59.51347,
        139.092208,
        0.0
      ]
    ],
    "turn_angle": 248.35231475422853,
    "filename": "scan-0044_light-4_camera-44.png"
  },
  {
    "id": 45,
    "scan_id": "0045",
    "camera_id": 45,
    "light_id": 4,
    "position": [
      -268.957977,
      -136.381149,
      210.414017
    ],
    "rotation_matrix": [
      [
        0.5759234659416492,
        0.8175036093304247,
        -0.00010054594117958615
      ],
      [
        -6.27732459462238e-05,
        0.0001672145827728566,
        0.9999999840494013
      ],
      [
        0.8175036131035003,
        -0.57592345044373,
        0.00014762015719699262
      ]
    ],
    "position_light": [
      -20.982933,
      219.834671,
      114.788734
    ],
    "rotation_matrix_light": [
      [
        0.2202051594527646,
        -0.4550601927048071,
        -0.8628035168946905
      ],
      [
        -0.37582363245506084,
        0.7766508263397076,
        -0.5055394062129408
      ],
      [
        0.9001479239762017,
        0.4355843373691406,
        1.444452361609727e-07
      ]
    ],
    "servo_angle": [
      [
        147.506265,
        27.501401,
        -86.054078,
        252.273776,
        62.241494,
        -198.267691,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -125.282837,
        -6.576983,
        -27.282531,
        -151.097049,
        59.51347,
        139.092208,
        0.0
      ]
    ],
    "turn_angle": 248.35231475422853,
    "filename": "scan-0045_light-4_camera-45.png"
  },
  {
    "id": 46,
    "scan_id": "0046",
    "camera_id": 46,
    "light_id": 4,
    "position": [
      -242.570984,
      -136.381149,
      247.721008
    ],
    "rotation_matrix": [
      [
        0.6468177159763172,
        0.762644632003024,
        -8.704109483576028e-05
      ],
      [
        -6.274481134954657e-05,
        0.00016734602678170063,
        0.9999999840291978
      ],
      [
        0.762644634388959,
        -0.6468177001847424,
        0.00015609436838237567
      ]
    ],
    "position_light": [
      -20.982933,
      219.834671,
      114.788734
    ],
    "rotation_matrix_light": [
      [
        0.2202051594527646,
        -0.4550601927048071,
        -0.8628035168946905
      ],
      [
        -0.37582363245506084,
        0.7766508263397076,
        -0.5055394062129408
      ],
      [
        0.9001479239762017,
        0.4355843373691406,
        1.444452361609727e-07
      ]
    ],
    "servo_angle": [
      [
        145.690677,
        20.658509,
        -81.803534,
        252.397248,
        59.950637,
        -195.382275,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -125.282837,
        -6.576983,
        -27.282531,
        -151.097049,
        59.51347,
        139.092208,
        0.0
      ]
    ],
    "turn_angle": 248.35231475422853,
    "filename": "scan-0046_light-4_camera-46.png"
  },
  {
    "id": 47,
    "scan_id": "0047",
    "camera_id": 47,
    "light_id": 4,
    "position": [
      -225.663437,
      -136.381149,
      268.348969
    ],
    "rotation_matrix": [
      [
        0.685821080957014,
        0.7277701827222232,
        -7.781654514921188e-05
      ],
      [
        -6.309300542989282e-05,
        0.0001663808987736326,
        0.9999999841683345
      ],
      [
        0.7277701841475959,
        -0.6858210651896444,
        0.00016002473593779154
      ]
    ],
    "position_light": [
      -20.982933,
      219.834671,
      114.788734
    ],
    "rotation_matrix_light": [
      [
        0.2202051594527646,
        -0.4550601927048071,
        -0.8628035168946905
      ],
      [
        -0.37582363245506084,
        0.7766508263397076,
        -0.5055394062129408
      ],
      [
        0.9001479239762017,
        0.4355843373691406,
        1.444452361609727e-07
      ]
    ],
    "servo_angle": [
      [
        144.443119,
        16.722461,
        -79.452115,
        252.470415,
        58.418318,
        -193.739089,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -125.282837,
        -6.576983,
        -27.282531,
        -151.097049,
        59.51347,
        139.092208,
        0.0
      ]
    ],
    "turn_angle": 248.35231475422853,
    "filename": "scan-0047_light-4_camera-47.png"
  },
  {
    "id": 48,
    "scan_id": "0048",
    "camera_id": 48,
    "light_id": 4,
    "position": [
      -208.782654,
      -136.381149,
      286.933502
    ],
    "rotation_matrix": [
      [
        0.7208225532312438,
        0.6931196446316089,
        -7.056162667973265e-05
      ],
      [
        -6.27149236376301e-05,
        0.00016702449257571805,
        0.9999999840848286
      ],
      [
        0.6931196453860108,
        -0.7208225373339621,
        0.0001638639667754238
      ]
    ],
    "position_light": [
      -20.982933,
      219.834671,
      114.788734
    ],
    "rotation_matrix_light": [
      [
        0.2202051594527646,
        -0.4550601927048071,
        -0.8628035168946905
      ],
      [
        -0.37582363245506084,
        0.7766508263397076,
        -0.5055394062129408
      ],
      [
        0.9001479239762017,
        0.4355843373691406,
        1.444452361609727e-07
      ]
    ],
    "servo_angle": [
      [
        143.125144,
        13.063839,
        -77.328619,
        252.541691,
        56.828017,
        -192.212271,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -125.282837,
        -6.576983,
        -27.282531,
        -151.097049,
        59.51347,
        139.092208,
        0.0
      ]
    ],
    "turn_angle": 248.35231475422853,
    "filename": "scan-0048_light-4_camera-48.png"
  },
  {
    "id": 49,
    "scan_id": "0049",
    "camera_id": 49,
    "light_id": 4,
    "position": [
      -174.657501,
      -136.381149,
      319.528503
    ],
    "rotation_matrix": [
      [
        0.7818298756528899,
        0.6234918142660059,
        -5.549658486425635e-05
      ],
      [
        -6.2550997439903e-05,
        0.00016744537801338666,
        0.9999999840247088
      ],
      [
        0.6234918135981893,
        -0.7818298596915633,
        0.00016991383394882043
      ]
    ],
    "position_light": [
      -20.982933,
      219.834671,
      114.788734
    ],
    "rotation_matrix_light": [
      [
        0.2202051594527646,
        -0.4550601927048071,
        -0.8628035168946905
      ],
      [
        -0.37582363245506084,
        0.7766508263397076,
        -0.5055394062129408
      ],
      [
        0.9001479239762017,
        0.4355843373691406,
        1.444452361609727e-07
      ]
    ],
    "servo_angle": [
      [
        140.21595,
        6.337601,
        -73.585142,
        252.683841,
        53.398578,
        -189.367765,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -125.282837,
        -6.576983,
        -27.282531,
        -151.097049,
        59.51347,
        139.092208,
        0.0
      ]
    ],
    "turn_angle": 248.35231475422853,
    "filename": "scan-0049_light-4_camera-49.png"
  },
  {
    "id": 50,
    "scan_id": "0050",
    "camera_id": 50,
    "light_id": 5,
    "position": [
      -150.769897,
      -136.381149,
      339.079041
    ],
    "rotation_matrix": [
      [
        0.8181339385162757,
        0.5750277007817934,
        -4.4513495273679204e-05
      ],
      [
        -6.299952587329738e-05,
        0.00016704507393483503,
        0.9999999840635014
      ],
      [
        0.5750276990536254,
        -0.8181339226737563,
        0.00017289171676138082
      ]
    ],
    "position_light": [
      629.819763,
      198.741547,
      111.657379
    ],
    "rotation_matrix_light": [
      [
        0.2564831157370817,
        0.813072735753015,
        0.522617582671026
      ],
      [
        0.1572221965302385,
        0.4984077834816825,
        -0.8525672186303456
      ],
      [
        -0.953675831852735,
        0.300836180902471,
        9.976105552755854e-08
      ]
    ],
    "servo_angle": [
      [
        137.962622,
        2.075941,
        -71.325511,
        252.781072,
        50.802793,
        -187.500152,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -33.967459,
        18.505391,
        -58.774755,
        -148.924107,
        53.812826,
        -1.532949,
        0.0
      ]
    ],
    "turn_angle": 284.0534302717453,
    "filename": "scan-0050_light-5_camera-50.png"
  },
  {
    "id": 51,
    "scan_id": "0051",
    "camera_id": 51,
    "light_id": 5,
    "position": [
      -116.720543,
      -136.381149,
      363.116302
    ],
    "rotation_matrix": [
      [
        0.8623755383399705,
        0.5062691280108447,
        -2.9933013468541603e-05
      ],
      [
        -6.295955677609877e-05,
        0.00016636960462979022,
        0.9999999841786245
      ],
      [
        0.5062691249809141,
        -0.8623755228114338,
        0.00017534755726500428
      ]
    ],
    "position_light": [
      629.819763,
      198.741547,
      111.657379
    ],
    "rotation_matrix_light": [
      [
        0.2564831157370817,
        0.813072735753015,
        0.522617582671026
      ],
      [
        0.1572221965302385,
        0.4984077834816825,
        -0.8525672186303456
      ],
      [
        -0.953675831852735,
        0.300836180902471,
        9.976105552755854e-08
      ]
    ],
    "servo_angle": [
      [
        134.402377,
        -3.449206,
        -68.535378,
        252.906034,
        46.784983,
        -184.916227,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -33.967459,
        18.505391,
        -58.774755,
        -148.924107,
        53.812826,
        -1.532949,
        0.0
      ]
    ],
    "turn_angle": 284.0534302717453,
    "filename": "scan-0051_light-5_camera-51.png"
  },
  {
    "id": 52,
    "scan_id": "0052",
    "camera_id": 52,
    "light_id": 5,
    "position": [
      -107.547478,
      -136.381149,
      368.90802
    ],
    "rotation_matrix": [
      [
        0.8729538502300522,
        0.48780280304218415,
        -2.669673232755243e-05
      ],
      [
        -6.284816558957407e-05,
        0.00016719928529385086,
        0.9999999840472533
      ],
      [
        0.48780279972406415,
        -0.8729538346262,
        0.00017661477119357283
      ]
    ],
    "position_light": [
      629.819763,
      198.741547,
      111.657379
    ],
    "rotation_matrix_light": [
      [
        0.2564831157370817,
        0.813072735753015,
        0.522617582671026
      ],
      [
        0.1572221965302385,
        0.4984077834816825,
        -0.8525672186303456
      ],
      [
        -0.953675831852735,
        0.300836180902471,
        9.976105552755854e-08
      ]
    ],
    "servo_angle": [
      [
        133.367386,
        -4.83416,
        -67.862668,
        252.933938,
        45.633166,
        -184.222833,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -33.967459,
        18.505391,
        -58.774755,
        -148.924107,
        53.812826,
        -1.532949,
        0.0
      ]
    ],
    "turn_angle": 284.0534302717453,
    "filename": "scan-0052_light-5_camera-52.png"
  },
  {
    "id": 53,
    "scan_id": "0053",
    "camera_id": 53,
    "light_id": 5,
    "position": [
      -67.680038,
      -136.381149,
      391.091705
    ],
    "rotation_matrix": [
      [
        0.9130722157942783,
        0.40779790170001023,
        -1.0658137630292774e-05
      ],
      [
        -6.299546852212012e-05,
        0.00016718465005455263,
        0.9999999840404319
      ],
      [
        0.4077978969736088,
        -0.9130722005506255,
        0.0001783410787519757
      ]
    ],
    "position_light": [
      629.819763,
      198.741547,
      111.657379
    ],
    "rotation_matrix_light": [
      [
        0.2564831157370817,
        0.813072735753015,
        0.522617582671026
      ],
      [
        0.1572221965302385,
        0.4984077834816825,
        -0.8525672186303456
      ],
      [
        -0.953675831852735,
        0.300836180902471,
        9.976105552755854e-08
      ]
    ],
    "servo_angle": [
      [
        128.462409,
        -10.358561,
        -65.301203,
        252.994098,
        40.255327,
        -181.139977,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -33.967459,
        18.505391,
        -58.774755,
        -148.924107,
        53.812826,
        -1.532949,
        0.0
      ]
    ],
    "turn_angle": 284.0534302717453,
    "filename": "scan-0053_light-5_camera-53.png"
  },
  {
    "id": 54,
    "scan_id": "0054",
    "camera_id": 54,
    "light_id": 5,
    "position": [
      -31.873758,
      -136.381149,
      407.273529
    ],
    "rotation_matrix": [
      [
        0.9417698016661009,
        0.33625829455739653,
        3.3382920106295177e-06
      ],
      [
        -6.310158103675634e-05,
        0.00016680293812254554,
        0.9999999840974851
      ],
      [
        0.33625828865320706,
        -0.9417697869002442,
        0.00017830839997634573
      ]
    ],
    "position_light": [
      629.819763,
      198.741547,
      111.657379
    ],
    "rotation_matrix_light": [
      [
        0.2564831157370817,
        0.813072735753015,
        0.522617582671026
      ],
      [
        0.1572221965302385,
        0.4984077834816825,
        -0.8525672186303456
      ],
      [
        -0.953675831852735,
        0.300836180902471,
        9.976105552755854e-08
      ]
    ],
    "servo_angle": [
      [
        123.456878,
        -14.627383,
        -63.489167,
        252.882142,
        34.879665,
        -178.138423,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -33.967459,
        18.505391,
        -58.774755,
        -148.924107,
        53.812826,
        -1.532949,
        0.0
      ]
    ],
    "turn_angle": 284.0534302717453,
    "filename": "scan-0054_light-5_camera-54.png"
  },
  {
    "id": 55,
    "scan_id": "0055",
    "camera_id": 55,
    "light_id": 5,
    "position": [
      -6.29915,
      -136.381149,
      416.873871
    ],
    "rotation_matrix": [
      [
        0.9584303954881048,
        0.28532643906947597,
        1.3131925315823523e-05
      ],
      [
        -6.326441130224958e-05,
        0.0001664851311785065,
        0.9999999841401576
      ],
      [
        0.2853264323579733,
        -0.9584303811183333,
        0.00017761541931499147
      ]
    ],
    "position_light": [
      629.819763,
      198.741547,
      111.657379
    ],
    "rotation_matrix_light": [
      [
        0.2564831157370817,
        0.813072735753015,
        0.522617582671026
      ],
      [
        0.1572221965302385,
        0.4984077834816825,
        -0.8525672186303456
      ],
      [
        -0.953675831852735,
        0.300836180902471,
        9.976105552755854e-08
      ]
    ],
    "servo_angle": [
      [
        119.52209,
        -17.25491,
        -62.483626,
        252.613368,
        30.716554,
        -175.736755,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -33.967459,
        18.505391,
        -58.774755,
        -148.924107,
        53.812826,
        -1.532949,
        0.0
      ]
    ],
    "turn_angle": 284.0534302717453,
    "filename": "scan-0055_light-5_camera-55.png"
  },
  {
    "id": 56,
    "scan_id": "0056",
    "camera_id": 56,
    "light_id": 5,
    "position": [
      34.304401,
      -136.381149,
      429.022705
    ],
    "rotation_matrix": [
      [
        0.9788196837236798,
        0.204724268276973,
        2.7083825502302594e-05
      ],
      [
        -6.264565759674101e-05,
        0.000167224814005551,
        0.9999999840556915
      ],
      [
        0.2047242604836984,
        -0.9788196698137608,
        0.00017650802596791415
      ]
    ],
    "position_light": [
      629.819763,
      198.741547,
      111.657379
    ],
    "rotation_matrix_light": [
      [
        0.2564831157370817,
        0.813072735753015,
        0.522617582671026
      ],
      [
        0.1572221965302385,
        0.4984077834816825,
        -0.8525672186303456
      ],
      [
        -0.953675831852735,
        0.300836180902471,
        9.976105552755854e-08
      ]
    ],
    "servo_angle": [
      [
        112.691746,
        -20.644873,
        -61.432076,
        251.560959,
        23.590678,
        -171.146791,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -33.967459,
        18.505391,
        -58.774755,
        -148.924107,
        53.812826,
        -1.532949,
        0.0
      ]
    ],
    "turn_angle": 284.0534302717453,
    "filename": "scan-0056_light-5_camera-56.png"
  },
  {
    "id": 57,
    "scan_id": "0057",
    "camera_id": 57,
    "light_id": 5,
    "position": [
      52.929241,
      -136.381149,
      433.391083
    ],
    "rotation_matrix": [
      [
        0.9858119266060881,
        0.16785363918919066,
        3.423650188169591e-05
      ],
      [
        -6.309316969803358e-05,
        0.00016658261311613964,
        0.9999999841347426
      ],
      [
        0.1678536308229435,
        -0.9858119131260173,
        0.0001748095449169429
      ]
    ],
    "position_light": [
      629.819763,
      198.741547,
      111.657379
    ],
    "rotation_matrix_light": [
      [
        0.2564831157370817,
        0.813072735753015,
        0.522617582671026
      ],
      [
        0.1572221965302385,
        0.4984077834816825,
        -0.8525672186303456
      ],
      [
        -0.953675831852735,
        0.300836180902471,
        9.976105552755854e-08
      ]
    ],
    "servo_angle": [
      [
        109.356329,
        -21.852954,
        -61.208967,
        250.64096,
        20.146858,
        -168.536108,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -33.967459,
        18.505391,
        -58.774755,
        -148.924107,
        53.812826,
        -1.532949,
        0.0
      ]
    ],
    "turn_angle": 284.0534302717453,
    "filename": "scan-0057_light-5_camera-57.png"
  },
  {
    "id": 58,
    "scan_id": "0058",
    "camera_id": 58,
    "light_id": 5,
    "position": [
      87.893204,
      -136.381149,
      439.636932
    ],
    "rotation_matrix": [
      [
        0.9951071559321589,
        0.09880154911498484,
        4.5881247800333425e-05
      ],
      [
        -6.269810565799616e-05,
        0.00016710351894261288,
        0.9999999840726804
      ],
      [
        0.09880153987442306,
        -0.9951071429594368,
        0.00017248057744684298
      ]
    ],
    "position_light": [
      629.819763,
      198.741547,
      111.657379
    ],
    "rotation_matrix_light": [
      [
        0.2564831157370817,
        0.813072735753015,
        0.522617582671026
      ],
      [
        0.1572221965302385,
        0.4984077834816825,
        -0.8525672186303456
      ],
      [
        -0.953675831852735,
        0.300836180902471,
        9.976105552755854e-08
      ]
    ],
    "servo_angle": [
      [
        102.905684,
        -23.475857,
        -61.356962,
        247.546473,
        13.525872,
        -162.147858,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -33.967459,
        18.505391,
        -58.774755,
        -148.924107,
        53.812826,
        -1.532949,
        0.0
      ]
    ],
    "turn_angle": 284.0534302717453,
    "filename": "scan-0058_light-5_camera-58.png"
  },
  {
    "id": 59,
    "scan_id": "0059",
    "camera_id": 59,
    "light_id": 5,
    "position": [
      130.201385,
      -136.381149,
      443.890839
    ],
    "rotation_matrix": [
      [
        0.999879487617126,
        0.01552438711060308,
        6.039332892313759e-05
      ],
      [
        -6.299879303064537e-05,
        0.00016734141707369643,
        0.999999984014001
      ],
      [
        0.015524376756124997,
        -0.9998794754377602,
        0.00016829926801126271
      ]
    ],
    "position_light": [
      629.819763,
      198.741547,
      111.657379
    ],
    "rotation_matrix_light": [
      [
        0.2564831157370817,
        0.813072735753015,
        0.522617582671026
      ],
      [
        0.1572221965302385,
        0.4984077834816825,
        -0.8525672186303456
      ],
      [
        -0.953675831852735,
        0.300836180902471,
        9.976105552755854e-08
      ]
    ],
    "servo_angle": [
      [
        95.409849,
        -24.218697,
        -62.95603,
        239.067786,
        5.761377,
        -149.45627,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -33.967459,
        18.505391,
        -58.774755,
        -148.924107,
        53.812826,
        -1.532949,
        0.0
      ]
    ],
    "turn_angle": 284.0534302717453,
    "filename": "scan-0059_light-5_camera-59.png"
  },
  {
    "id": 60,
    "scan_id": "0060",
    "camera_id": 60,
    "light_id": 6,
    "position": [
      139.759232,
      -136.381149,
      444.360535
    ],
    "rotation_matrix": [
      [
        0.9999947232502772,
        -0.0032479891360400054,
        6.35466244676636e-05
      ],
      [
        -6.300605361143907e-05,
        0.00016653452133597035,
        0.999999984148245
      ],
      [
        -0.003247999667260366,
        -0.9999947114024279,
        0.0001663289995973427
      ]
    ],
    "position_light": [
      144.105499,
      221.05481,
      115.758293
    ],
    "rotation_matrix_light": [
      [
        0.041828102416936463,
        -0.07674702160061297,
        -0.9961728286415128
      ],
      [
        -0.4767200065991243,
        0.8746989995602995,
        -0.08740535153147949
      ],
      [
        0.8780594770038808,
        0.4785515174394975,
        1.5869369274224e-07
      ]
    ],
    "servo_angle": [
      [
        93.933279,
        -24.19532,
        -63.610863,
        235.879906,
        4.167867,
        -145.275168,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -83.912763,
        -11.911563,
        -20.074207,
        -88.247762,
        90.319634,
        119.654959,
        0.0
      ]
    ],
    "turn_angle": 310.85076154042304,
    "filename": "scan-0060_light-6_camera-60.png"
  },
  {
    "id": 61,
    "scan_id": "0061",
    "camera_id": 61,
    "light_id": 6,
    "position": [
      147.599548,
      -136.381149,
      444.611664
    ],
    "rotation_matrix": [
      [
        0.9998263528409311,
        -0.01863490802925061,
        6.608739010972517e-05
      ],
      [
        -6.299544520042485e-05,
        0.0001665091578260114,
        0.999999984153137
      ],
      [
        -0.018634918738101445,
        -0.9998263411600244,
        0.00016530632965627845
      ]
    ],
    "position_light": [
      144.105499,
      221.05481,
      115.758293
    ],
    "rotation_matrix_light": [
      [
        0.041828102416936463,
        -0.07674702160061297,
        -0.9961728286415128
      ],
      [
        -0.4767200065991243,
        0.8746989995602995,
        -0.08740535153147949
      ],
      [
        0.8780594770038808,
        0.4785515174394975,
        1.5869369274224e-07
      ]
    ],
    "servo_angle": [
      [
        92.837211,
        -24.126909,
        -64.237564,
        232.764104,
        2.941451,
        -141.331213,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -83.912763,
        -11.911563,
        -20.074207,
        -88.247762,
        90.319634,
        119.654959,
        0.0
      ]
    ],
    "turn_angle": 310.85076154042304,
    "filename": "scan-0061_light-6_camera-61.png"
  },
  {
    "id": 62,
    "scan_id": "0062",
    "camera_id": 62,
    "light_id": 6,
    "position": [
      189.908813,
      -136.381149,
      443.884399
    ],
    "rotation_matrix": [
      [
        0.9948360539201727,
        -0.10149492369292779,
        7.927865646722987e-05
      ],
      [
        -6.268102449995955e-05,
        0.0001667207730670084,
        0.9999999841376361
      ],
      [
        -0.10149493530037729,
        -0.9948360431089889,
        0.00015949803018588948
      ]
    ],
    "position_light": [
      144.105499,
      221.05481,
      115.758293
    ],
    "rotation_matrix_light": [
      [
        0.041828102416936463,
        -0.07674702160061297,
        -0.9961728286415128
      ],
      [
        -0.4767200065991243,
        0.8746989995602995,
        -0.08740535153147949
      ],
      [
        0.8780594770038808,
        0.4785515174394975,
        1.5869369274224e-07
      ]
    ],
    "servo_angle": [
      [
        89.79893,
        -23.324539,
        -68.232856,
        206.523268,
        -1.679225,
        -110.443516,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -83.912763,
        -11.911563,
        -20.074207,
        -88.247762,
        90.319634,
        119.654959,
        0.0
      ]
    ],
    "turn_angle": 310.85076154042304,
    "filename": "scan-0062_light-6_camera-62.png"
  },
  {
    "id": 63,
    "scan_id": "0063",
    "camera_id": 63,
    "light_id": 6,
    "position": [
      212.309631,
      -136.381149,
      442.071533
    ],
    "rotation_matrix": [
      [
        0.989395658893961,
        -0.14524538759819056,
        8.685180688312866e-05
      ],
      [
        -6.332253295010526e-05,
        0.00016661986099936188,
        0.9999999841140395
      ],
      [
        -0.14524539976206402,
        -0.9893956486761368,
        0.0001556556613162008
      ]
    ],
    "position_light": [
      144.105499,
      221.05481,
      115.758293
    ],
    "rotation_matrix_light": [
      [
        0.041828102416936463,
        -0.07674702160061297,
        -0.9961728286415128
      ],
      [
        -0.4767200065991243,
        0.8746989995602995,
        -0.08740535153147949
      ],
      [
        0.8780594770038808,
        0.4785515174394975,
        1.5869369274224e-07
      ]
    ],
    "servo_angle": [
      [
        90.23392,
        -23.108247,
        -69.15211,
        187.488807,
        -2.316869,
        -88.901335,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -83.912763,
        -11.911563,
        -20.074207,
        -88.247762,
        90.319634,
        119.654959,
        0.0
      ]
    ],
    "turn_angle": 310.85076154042304,
    "filename": "scan-0063_light-6_camera-63.png"
  },
  {
    "id": 64,
    "scan_id": "0064",
    "camera_id": 64,
    "light_id": 6,
    "position": [
      251.573807,
      -136.381149,
      436.46991
    ],
    "rotation_matrix": [
      [
        0.9751088240581417,
        -0.22172679514107269,
        9.77773855355274e-05
      ],
      [
        -6.240815803695843e-05,
        0.0001665231230663089,
        0.9999999841876357
      ],
      [
        -0.22172680791724336,
        -0.9751088147414722,
        0.0001485406058394645
      ]
    ],
    "position_light": [
      144.105499,
      221.05481,
      115.758293
    ],
    "rotation_matrix_light": [
      [
        0.041828102416936463,
        -0.07674702160061297,
        -0.9961728286415128
      ],
      [
        -0.4767200065991243,
        0.8746989995602995,
        -0.08740535153147949
      ],
      [
        0.8780594770038808,
        0.4785515174394975,
        1.5869369274224e-07
      ]
    ],
    "servo_angle": [
      [
        90.537416,
        -23.748184,
        -66.349888,
        156.078402,
        -0.278572,
        -52.993783,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -83.912763,
        -11.911563,
        -20.074207,
        -88.247762,
        90.319634,
        119.654959,
        0.0
      ]
    ],
    "turn_angle": 310.85076154042304,
    "filename": "scan-0064_light-6_camera-64.png"
  },
  {
    "id": 65,
    "scan_id": "0065",
    "camera_id": 65,
    "light_id": 6,
    "position": [
      288.510529,
      -136.381149,
      428.297974
    ],
    "rotation_matrix": [
      [
        0.9559805044669414,
        -0.29343016741009204,
        0.00010923743690227639
      ],
      [
        -6.310269803239121e-05,
        0.00016669208384617606,
        0.9999999841158992
      ],
      [
        -0.29343018095823364,
        -0.9559804961752277,
        0.00014083814715820653
      ]
    ],
    "position_light": [
      144.105499,
      221.05481,
      115.758293
    ],
    "rotation_matrix_light": [
      [
        0.041828102416936463,
        -0.07674702160061297,
        -0.9961728286415128
      ],
      [
        -0.4767200065991243,
        0.8746989995602995,
        -0.08740535153147949
      ],
      [
        0.8780594770038808,
        0.4785515174394975,
        1.5869369274224e-07
      ]
    ],
    "servo_angle": [
      [
        87.107748,
        -24.53772,
        -61.855951,
        137.079637,
        4.697165,
        -29.747396,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -83.912763,
        -11.911563,
        -20.074207,
        -88.247762,
        90.319634,
        119.654959,
        0.0
      ]
    ],
    "turn_angle": 310.85076154042304,
    "filename": "scan-0065_light-6_camera-65.png"
  },
  {
    "id": 66,
    "scan_id": "0066",
    "camera_id": 66,
    "light_id": 6,
    "position": [
      312.861786,
      -136.381149,
      421.303497
    ],
    "rotation_matrix": [
      [
        0.9402205482404018,
        -0.3405661568252714,
        0.00011615413323642909
      ],
      [
        -6.299777611495916e-05,
        0.00016714029461228908,
        0.9999999840477009
      ],
      [
        -0.3405661708064943,
        -0.9402205405591745,
        0.0001356938289334142
      ]
    ],
    "position_light": [
      144.105499,
      221.05481,
      115.758293
    ],
    "rotation_matrix_light": [
      [
        0.041828102416936463,
        -0.07674702160061297,
        -0.9961728286415128
      ],
      [
        -0.4767200065991243,
        0.8746989995602995,
        -0.08740535153147949
      ],
      [
        0.8780594770038808,
        0.4785515174394975,
        1.5869369274224e-07
      ]
    ],
    "servo_angle": [
      [
        83.355218,
        -24.612605,
        -59.462763,
        129.895548,
        8.99389,
        -19.895272,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -83.912763,
        -11.911563,
        -20.074207,
        -88.247762,
        90.319634,
        119.654959,
        0.0
      ]
    ],
    "turn_angle": 310.85076154042304,
    "filename": "scan-0066_light-6_camera-66.png"
  },
  {
    "id": 67,
    "scan_id": "0067",
    "camera_id": 67,
    "light_id": 6,
    "position": [
      361.813049,
      -136.381149,
      403.112518
    ],
    "rotation_matrix": [
      [
        0.9004436215100937,
        -0.4349727207104712,
        0.0001293039738611279
      ],
      [
        -6.303569656387897e-05,
        0.00016677800113312768,
        0.9999999841057996
      ],
      [
        -0.43497273536198594,
        -0.9004436153490283,
        0.00012275537889233634
      ]
    ],
    "position_light": [
      144.105499,
      221.05481,
      115.758293
    ],
    "rotation_matrix_light": [
      [
        0.041828102416936463,
        -0.07674702160061297,
        -0.9961728286415128
      ],
      [
        -0.4767200065991243,
        0.8746989995602995,
        -0.08740535153147949
      ],
      [
        0.8780594770038808,
        0.4785515174394975,
        1.5869369274224e-07
      ]
    ],
    "servo_angle": [
      [
        74.557279,
        -23.290161,
        -56.383917,
        122.682525,
        18.6264,
        -7.705824,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -83.912763,
        -11.911563,
        -20.074207,
        -88.247762,
        90.319634,
        119.654959,
        0.0
      ]
    ],
    "turn_angle": 310.85076154042304,
    "filename": "scan-0067_light-6_camera-67.png"
  },
  {
    "id": 68,
    "scan_id": "0068",
    "camera_id": 68,
    "light_id": 6,
    "position": [
      397.239166,
      -136.381149,
      386.193329
    ],
    "rotation_matrix": [
      [
        0.8642991613447415,
        -0.5029780715903088,
        0.00013855710457399972
      ],
      [
        -6.309999495690555e-05,
        0.0001670447170334377,
        0.9999999840572268
      ],
      [
        -0.5029780867166757,
        -0.8642991563083683,
        0.00011263869505828694
      ]
    ],
    "position_light": [
      144.105499,
      221.05481,
      115.758293
    ],
    "rotation_matrix_light": [
      [
        0.041828102416936463,
        -0.07674702160061297,
        -0.9961728286415128
      ],
      [
        -0.4767200065991243,
        0.8746989995602995,
        -0.08740535153147949
      ],
      [
        0.8780594770038808,
        0.4785515174394975,
        1.5869369274224e-07
      ]
    ],
    "servo_angle": [
      [
        68.123078,
        -21.071268,
        -55.263785,
        120.527917,
        25.743452,
        -2.265131,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -83.912763,
        -11.911563,
        -20.074207,
        -88.247762,
        90.319634,
        119.654959,
        0.0
      ]
    ],
    "turn_angle": 310.85076154042304,
    "filename": "scan-0068_light-6_camera-68.png"
  },
  {
    "id": 69,
    "scan_id": "0069",
    "camera_id": 69,
    "light_id": 6,
    "position": [
      425.670532,
      -136.381149,
      370.059753
    ],
    "rotation_matrix": [
      [
        0.8302835916911407,
        -0.5573411309621152,
        0.00014528017589593434
      ],
      [
        -6.309460829240221e-05,
        0.00016667306688655792,
        0.9999999841195796
      ],
      [
        -0.5573411463255962,
        -0.8302835876722839,
        0.00010322069226953445
      ]
    ],
    "position_light": [
      144.105499,
      221.05481,
      115.758293
    ],
    "rotation_matrix_light": [
      [
        0.041828102416936463,
        -0.07674702160061297,
        -0.9961728286415128
      ],
      [
        -0.4767200065991243,
        0.8746989995602995,
        -0.08740535153147949
      ],
      [
        0.8780594770038808,
        0.4785515174394975,
        1.5869369274224e-07
      ]
    ],
    "servo_angle": [
      [
        63.211282,
        -18.532148,
        -54.893883,
        119.69667,
        31.310768,
        1.017516,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -83.912763,
        -11.911563,
        -20.074207,
        -88.247762,
        90.319634,
        119.654959,
        0.0
      ]
    ],
    "turn_angle": 310.85076154042304,
    "filename": "scan-0069_light-6_camera-69.png"
  },
  {
    "id": 70,
    "scan_id": "0070",
    "camera_id": 70,
    "light_id": 7,
    "position": [
      458.135895,
      -136.381149,
      348.488586
    ],
    "rotation_matrix": [
      [
        0.7852707662515207,
        -0.6191524855559414,
        0.000152645502478177
      ],
      [
        -6.282628896525644e-05,
        0.00016685687998618803,
        0.9999999841058195
      ],
      [
        -0.6191525011849722,
        -0.7852707633604358,
        9.212877703002054e-05
      ]
    ],
    "position_light": [
      170.932022,
      216.830353,
      139.090057
    ],
    "rotation_matrix_light": [
      [
        0.004515631374313767,
        -0.007271985687235694,
        -0.9999633629775924
      ],
      [
        -0.5274935720650145,
        0.8495158966891545,
        -0.008559947576559535
      ],
      [
        0.849547020772472,
        0.5275128998390339,
        1.749299022302253e-07
      ]
    ],
    "servo_angle": [
      [
        57.994215,
        -14.811589,
        -54.992432,
        119.287349,
        37.40767,
        4.040957,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.222392,
        -13.421766,
        -23.19866,
        -79.158016,
        97.0296,
        112.397646,
        0.0
      ]
    ],
    "turn_angle": 332.02630696069906,
    "filename": "scan-0070_light-7_camera-70.png"
  },
  {
    "id": 71,
    "scan_id": "0071",
    "camera_id": 71,
    "light_id": 7,
    "position": [
      464.968414,
      -136.381149,
      343.475311
    ],
    "rotation_matrix": [
      [
        0.7748699443584327,
        -0.6321206733239291,
        0.00015390406638277065
      ],
      [
        -6.276503173879844e-05,
        0.0001665335935635559,
        0.9999999841635563
      ],
      [
        -0.6321206889435829,
        -0.7748699417470422,
        8.93668022544647e-05
      ]
    ],
    "position_light": [
      170.932022,
      216.830353,
      139.090057
    ],
    "rotation_matrix_light": [
      [
        0.004515631374313767,
        -0.007271985687235694,
        -0.9999633629775924
      ],
      [
        -0.5274935720650145,
        0.8495158966891545,
        -0.008559947576559535
      ],
      [
        0.849547020772472,
        0.5275128998390339,
        1.749299022302253e-07
      ]
    ],
    "servo_angle": [
      [
        56.954755,
        -13.916285,
        -55.082386,
        119.248617,
        38.650587,
        4.607784,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.222392,
        -13.421766,
        -23.19866,
        -79.158016,
        97.0296,
        112.397646,
        0.0
      ]
    ],
    "turn_angle": 332.02630696069906,
    "filename": "scan-0071_light-7_camera-71.png"
  },
  {
    "id": 72,
    "scan_id": "0072",
    "camera_id": 72,
    "light_id": 7,
    "position": [
      494.643463,
      -136.381149,
      319.54071
    ],
    "rotation_matrix": [
      [
        0.7254605634144182,
        -0.6882637176631449,
        0.00016086932958930822
      ],
      [
        -6.311845215245526e-05,
        0.00016720244901269332,
        0.9999999840297007
      ],
      [
        -0.6882637335691133,
        -0.725460561982419,
        7.785664233339595e-05
      ]
    ],
    "position_light": [
      170.932022,
      216.830353,
      139.090057
    ],
    "rotation_matrix_light": [
      [
        0.004515631374313767,
        -0.007271985687235694,
        -0.9999633629775924
      ],
      [
        -0.5274935720650145,
        0.8495158966891545,
        -0.008559947576559535
      ],
      [
        0.849547020772472,
        0.5275128998390339,
        1.749299022302253e-07
      ]
    ],
    "servo_angle": [
      [
        52.68261,
        -9.562551,
        -55.758706,
        119.202265,
        43.881119,
        6.878702,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.222392,
        -13.421766,
        -23.19866,
        -79.158016,
        97.0296,
        112.397646,
        0.0
      ]
    ],
    "turn_angle": 332.02630696069906,
    "filename": "scan-0072_light-7_camera-72.png"
  },
  {
    "id": 73,
    "scan_id": "0073",
    "camera_id": 73,
    "light_id": 7,
    "position": [
      527.298157,
      -136.381149,
      288.482513
    ],
    "rotation_matrix": [
      [
        0.6618382951466539,
        -0.7496466123232829,
        0.00016646199609304801
      ],
      [
        -6.287349403277798e-05,
        0.00016654501641505393,
        0.9999999841548405
      ],
      [
        -0.7496466281684286,
        -0.6618382951257679,
        6.309296792278429e-05
      ]
    ],
    "position_light": [
      170.932022,
      216.830353,
      139.090057
    ],
    "rotation_matrix_light": [
      [
        0.004515631374313767,
        -0.007271985687235694,
        -0.9999633629775924
      ],
      [
        -0.5274935720650145,
        0.8495158966891545,
        -0.008559947576559535
      ],
      [
        0.849547020772472,
        0.5275128998390339,
        1.749299022302253e-07
      ]
    ],
    "servo_angle": [
      [
        48.430232,
        -3.847182,
        -57.075936,
        119.295141,
        49.332583,
        9.157986,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.222392,
        -13.421766,
        -23.19866,
        -79.158016,
        97.0296,
        112.397646,
        0.0
      ]
    ],
    "turn_angle": 332.02630696069906,
    "filename": "scan-0073_light-7_camera-73.png"
  },
  {
    "id": 74,
    "scan_id": "0074",
    "camera_id": 74,
    "light_id": 7,
    "position": [
      537.198792,
      -136.381149,
      277.897797
    ],
    "rotation_matrix": [
      [
        0.6402597183671859,
        -0.7681584893490953,
        0.00016815851852014507
      ],
      [
        -6.274560466223988e-05,
        0.000166612794702925,
        0.9999999841515825
      ],
      [
        -0.7681585051923597,
        -0.6402597187712906,
        5.8476892122294455e-05
      ]
    ],
    "position_light": [
      170.932022,
      216.830353,
      139.090057
    ],
    "rotation_matrix_light": [
      [
        0.004515631374313767,
        -0.007271985687235694,
        -0.9999633629775924
      ],
      [
        -0.5274935720650145,
        0.8495158966891545,
        -0.008559947576559535
      ],
      [
        0.849547020772472,
        0.5275128998390339,
        1.749299022302253e-07
      ]
    ],
    "servo_angle": [
      [
        47.23,
        -1.904512,
        -57.607182,
        119.340348,
        50.927927,
        9.831841,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.222392,
        -13.421766,
        -23.19866,
        -79.158016,
        97.0296,
        112.397646,
        0.0
      ]
    ],
    "turn_angle": 332.02630696069906,
    "filename": "scan-0074_light-7_camera-74.png"
  },
  {
    "id": 75,
    "scan_id": "0075",
    "camera_id": 75,
    "light_id": 7,
    "position": [
      562.570007,
      -136.381149,
      247.722275
    ],
    "rotation_matrix": [
      [
        0.5789809754829323,
        -0.8153410330331939,
        0.00017286178239833694
      ],
      [
        -6.310650168184218e-05,
        0.0001671991353454083,
        0.999999984031009
      ],
      [
        -0.815341048915361,
        -0.5789809771458927,
        4.535179820980284e-05
      ]
    ],
    "position_light": [
      170.932022,
      216.830353,
      139.090057
    ],
    "rotation_matrix_light": [
      [
        0.004515631374313767,
        -0.007271985687235694,
        -0.9999633629775924
      ],
      [
        -0.5274935720650145,
        0.8495158966891545,
        -0.008559947576559535
      ],
      [
        0.849547020772472,
        0.5275128998390339,
        1.749299022302253e-07
      ]
    ],
    "servo_angle": [
      [
        44.332266,
        3.584768,
        -59.294142,
        119.477629,
        54.91365,
        11.58154,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.222392,
        -13.421766,
        -23.19866,
        -79.158016,
        97.0296,
        112.397646,
        0.0
      ]
    ],
    "turn_angle": 332.02630696069906,
    "filename": "scan-0075_light-7_camera-75.png"
  },
  {
    "id": 76,
    "scan_id": "0076",
    "camera_id": 76,
    "light_id": 7,
    "position": [
      588.041382,
      -136.381149,
      211.836349
    ],
    "rotation_matrix": [
      [
        0.5065030898424241,
        -0.8622381277807946,
        0.00017601462190841577
      ],
      [
        -6.280924183887926e-05,
        0.00016724097368414625,
        0.9999999840427276
      ],
      [
        -0.8622381434586828,
        -0.5065030928153613,
        3.055154682884975e-05
      ]
    ],
    "position_light": [
      170.932022,
      216.830353,
      139.090057
    ],
    "rotation_matrix_light": [
      [
        0.004515631374313767,
        -0.007271985687235694,
        -0.9999633629775924
      ],
      [
        -0.5274935720650145,
        0.8495158966891545,
        -0.008559947576559535
      ],
      [
        0.849547020772472,
        0.5275128998390339,
        1.749299022302253e-07
      ]
    ],
    "servo_angle": [
      [
        41.662454,
        9.987342,
        -61.559903,
        119.63926,
        58.80581,
        13.466055,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.222392,
        -13.421766,
        -23.19866,
        -79.158016,
        97.0296,
        112.397646,
        0.0
      ]
    ],
    "turn_angle": 332.02630696069906,
    "filename": "scan-0076_light-7_camera-76.png"
  },
  {
    "id": 77,
    "scan_id": "0077",
    "camera_id": 77,
    "light_id": 7,
    "position": [
      599.596497,
      -136.381149,
      193.094452
    ],
    "rotation_matrix": [
      [
        0.46879697262279485,
        -0.8833059307163071,
        0.00017669493627769928
      ],
      [
        -6.282178561722862e-05,
        0.0001666967982910661,
        0.9999999841328
      ],
      [
        -0.8833059461551956,
        -0.4687969762845911,
        2.2656098570883465e-05
      ]
    ],
    "position_light": [
      170.932022,
      216.830353,
      139.090057
    ],
    "rotation_matrix_light": [
      [
        0.004515631374313767,
        -0.007271985687235694,
        -0.9999633629775924
      ],
      [
        -0.5274935720650145,
        0.8495158966891545,
        -0.008559947576559535
      ],
      [
        0.849547020772472,
        0.5275128998390339,
        1.749299022302253e-07
      ]
    ],
    "servo_angle": [
      [
        40.523357,
        13.270906,
        -62.831583,
        119.721537,
        60.555222,
        14.406623,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.222392,
        -13.421766,
        -23.19866,
        -79.158016,
        97.0296,
        112.397646,
        0.0
      ]
    ],
    "turn_angle": 332.02630696069906,
    "filename": "scan-0077_light-7_camera-77.png"
  },
  {
    "id": 78,
    "scan_id": "0078",
    "camera_id": 78,
    "light_id": 7,
    "position": [
      613.638367,
      -136.381149,
      167.529648
    ],
    "rotation_matrix": [
      [
        0.4175099968943562,
        -0.9086723120059547,
        0.00017856939091848156
      ],
      [
        -6.304646784272006e-05,
        0.0001675486921438596,
        0.999999983976289
      ],
      [
        -0.9086723273647201,
        -0.41751000146246614,
        1.2664674238105356e-05
      ]
    ],
    "position_light": [
      170.932022,
      216.830353,
      139.090057
    ],
    "rotation_matrix_light": [
      [
        0.004515631374313767,
        -0.007271985687235694,
        -0.9999633629775924
      ],
      [
        -0.5274935720650145,
        0.8495158966891545,
        -0.008559947576559535
      ],
      [
        0.849547020772472,
        0.5275128998390339,
        1.749299022302253e-07
      ]
    ],
    "servo_angle": [
      [
        39.194095,
        17.683196,
        -64.647573,
        119.833493,
        62.689776,
        15.667875,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.222392,
        -13.421766,
        -23.19866,
        -79.158016,
        97.0296,
        112.397646,
        0.0
      ]
    ],
    "turn_angle": 332.02630696069906,
    "filename": "scan-0078_light-7_camera-78.png"
  },
  {
    "id": 79,
    "scan_id": "0079",
    "camera_id": 79,
    "light_id": 7,
    "position": [
      637.361328,
      -136.381149,
      113.840813
    ],
    "rotation_matrix": [
      [
        0.3102873870168812,
        -0.9506427854682883,
        0.00017859263759345545
      ],
      [
        -6.29881062557125e-05,
        0.00016730597682712567,
        0.9999999840206042
      ],
      [
        -0.9506428001572066,
        -0.31028739330788824,
        -7.966254400193495e-06
      ]
    ],
    "position_light": [
      170.932022,
      216.830353,
      139.090057
    ],
    "rotation_matrix_light": [
      [
        0.004515631374313767,
        -0.007271985687235694,
        -0.9999633629775924
      ],
      [
        -0.5274935720650145,
        0.8495158966891545,
        -0.008559947576559535
      ],
      [
        0.849547020772472,
        0.5275128998390339,
        1.749299022302253e-07
      ]
    ],
    "servo_angle": [
      [
        37.066932,
        26.716506,
        -68.72073,
        120.083245,
        66.425003,
        18.309783,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.222392,
        -13.421766,
        -23.19866,
        -79.158016,
        97.0296,
        112.397646,
        0.0
      ]
    ],
    "turn_angle": 332.02630696069906,
    "filename": "scan-0079_light-7_camera-79.png"
  },
  {
    "id": 80,
    "scan_id": "0080",
    "camera_id": 80,
    "light_id": 8,
    "position": [
      628.327209,
      -136.381149,
      136.31427
    ],
    "rotation_matrix": [
      [
        0.35509372470815137,
        -0.9348306878283296,
        0.00017823384490323058
      ],
      [
        -6.284940235512515e-05,
        0.00016678572464973174,
        0.999999984116237
      ],
      [
        -0.9348307027065617,
        -0.35509373026981744,
        4.7101416078554337e-07
      ]
    ],
    "position_light": [
      171.243835,
      194.275101,
      317.747681
    ],
    "rotation_matrix_light": [
      [
        0.00636276167561578,
        -0.005140822010851531,
        -0.9999665430467721
      ],
      [
        -0.7777956342892397,
        0.6284640311852204,
        -0.008180023656531199
      ],
      [
        0.6284850567391864,
        0.77782165915811,
        2.5793542990371066e-07
      ]
    ],
    "servo_angle": [
      [
        37.861452,
        22.971425,
        -66.976303,
        119.974727,
        64.969174,
        17.199563,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.992579,
        -30.029119,
        -36.755529,
        -83.99842,
        101.218037,
        62.933512,
        0.0
      ]
    ],
    "turn_angle": 361.95471604110554,
    "filename": "scan-0080_light-8_camera-80.png"
  },
  {
    "id": 81,
    "scan_id": "0081",
    "camera_id": 81,
    "light_id": 8,
    "position": [
      616.330444,
      -136.381149,
      162.20108
    ],
    "rotation_matrix": [
      [
        0.40683923768319585,
        -0.9134997551307975,
        0.00017904560660053637
      ],
      [
        -6.306117709725667e-05,
        0.00016791448672121012,
        0.9999999839140064
      ],
      [
        -0.9134997705005974,
        -0.40683924242960917,
        1.0707831937073475e-05
      ]
    ],
    "position_light": [
      171.243835,
      194.275101,
      317.747681
    ],
    "rotation_matrix_light": [
      [
        0.00636276167561578,
        -0.005140822010851531,
        -0.9999665430467721
      ],
      [
        -0.7777956342892397,
        0.6284640311852204,
        -0.008180023656531199
      ],
      [
        0.6284850567391864,
        0.77782165915811,
        2.5793542990371066e-07
      ]
    ],
    "servo_angle": [
      [
        38.94566,
        18.593454,
        -65.03684,
        119.857098,
        63.102478,
        15.929315,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.992579,
        -30.029119,
        -36.755529,
        -83.99842,
        101.218037,
        62.933512,
        0.0
      ]
    ],
    "turn_angle": 361.95471604110554,
    "filename": "scan-0081_light-8_camera-81.png"
  },
  {
    "id": 82,
    "scan_id": "0082",
    "camera_id": 82,
    "light_id": 8,
    "position": [
      599.430908,
      -136.381149,
      193.376328
    ],
    "rotation_matrix": [
      [
        0.4693630662159076,
        -0.883005255106251,
        0.00017755885207892952
      ],
      [
        -6.28976457708319e-05,
        0.00016765134352209055,
        0.9999999839684564
      ],
      [
        -0.8830052707182939,
        -0.46936306985932696,
        2.3150396901316928e-05
      ]
    ],
    "position_light": [
      171.243835,
      194.275101,
      317.747681
    ],
    "rotation_matrix_light": [
      [
        0.00636276167561578,
        -0.005140822010851531,
        -0.9999665430467721
      ],
      [
        -0.7777956342892397,
        0.6284640311852204,
        -0.008180023656531199
      ],
      [
        0.6284850567391864,
        0.77782165915811,
        2.5793542990371066e-07
      ]
    ],
    "servo_angle": [
      [
        40.5394,
        13.221861,
        -62.812045,
        119.720333,
        60.530184,
        14.392643,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.992579,
        -30.029119,
        -36.755529,
        -83.99842,
        101.218037,
        62.933512,
        0.0
      ]
    ],
    "turn_angle": 361.95471604110554,
    "filename": "scan-0082_light-8_camera-82.png"
  },
  {
    "id": 83,
    "scan_id": "0083",
    "camera_id": 83,
    "light_id": 8,
    "position": [
      593.761047,
      -136.381149,
      202.78569
    ],
    "rotation_matrix": [
      [
        0.48828225735104086,
        -0.8726857429996955,
        0.00017641213361507813
      ],
      [
        -6.298708586865986e-05,
        0.00016690619218240332,
        0.9999999840874747
      ],
      [
        -0.8726857585573392,
        -0.48828226069292335,
        2.6529400454056162e-05
      ]
    ],
    "position_light": [
      171.243835,
      194.275101,
      317.747681
    ],
    "rotation_matrix_light": [
      [
        0.00636276167561578,
        -0.005140822010851531,
        -0.9999665430467721
      ],
      [
        -0.7777956342892397,
        0.6284640311852204,
        -0.008180023656531199
      ],
      [
        0.6284850567391864,
        0.77782165915811,
        2.5793542990371066e-07
      ]
    ],
    "servo_angle": [
      [
        41.093278,
        11.578217,
        -62.167239,
        119.679138,
        59.67195,
        13.922703,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.992579,
        -30.029119,
        -36.755529,
        -83.99842,
        101.218037,
        62.933512,
        0.0
      ]
    ],
    "turn_angle": 361.95471604110554,
    "filename": "scan-0083_light-8_camera-83.png"
  },
  {
    "id": 84,
    "scan_id": "0084",
    "camera_id": 84,
    "light_id": 8,
    "position": [
      577.060059,
      -136.381149,
      228.119034
    ],
    "rotation_matrix": [
      [
        0.5393401420717301,
        -0.8420879885085848,
        0.00017538418330165229
      ],
      [
        -6.310650382407301e-05,
        0.00016785456112949904,
        0.9999999839212077
      ],
      [
        -0.8420880044078619,
        -0.5393401444676746,
        3.738947397985415e-05
      ]
    ],
    "position_light": [
      171.243835,
      194.275101,
      317.747681
    ],
    "rotation_matrix_light": [
      [
        0.00636276167561578,
        -0.005140822010851531,
        -0.9999665430467721
      ],
      [
        -0.7777956342892397,
        0.6284640311852204,
        -0.008180023656531199
      ],
      [
        0.6284850567391864,
        0.77782165915811,
        2.5793542990371066e-07
      ]
    ],
    "servo_angle": [
      [
        42.785681,
        7.100723,
        -60.501822,
        119.566723,
        57.137185,
        12.628735,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.992579,
        -30.029119,
        -36.755529,
        -83.99842,
        101.218037,
        62.933512,
        0.0
      ]
    ],
    "turn_angle": 361.95471604110554,
    "filename": "scan-0084_light-8_camera-84.png"
  },
  {
    "id": 85,
    "scan_id": "0085",
    "camera_id": 85,
    "light_id": 8,
    "position": [
      552.092651,
      -136.381149,
      260.762451
    ],
    "rotation_matrix": [
      [
        0.6054214856326515,
        -0.7959050166006953,
        0.0001711262704358063
      ],
      [
        -6.296635941688278e-05,
        0.0001671117508620923,
        0.9999999840544503
      ],
      [
        -0.7959050325067629,
        -0.6054214867540711,
        5.1057803136689284e-05
      ]
    ],
    "position_light": [
      171.243835,
      194.275101,
      317.747681
    ],
    "rotation_matrix_light": [
      [
        0.00636276167561578,
        -0.005140822010851531,
        -0.9999665430467721
      ],
      [
        -0.7777956342892397,
        0.6284640311852204,
        -0.008180023656531199
      ],
      [
        0.6284850567391864,
        0.77782165915811,
        2.5793542990371066e-07
      ]
    ],
    "servo_angle": [
      [
        45.49875,
        1.222978,
        -58.536806,
        119.417754,
        53.283986,
        10.850847,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.992579,
        -30.029119,
        -36.755529,
        -83.99842,
        101.218037,
        62.933512,
        0.0
      ]
    ],
    "turn_angle": 361.95471604110554,
    "filename": "scan-0085_light-8_camera-85.png"
  },
  {
    "id": 86,
    "scan_id": "0086",
    "camera_id": 86,
    "light_id": 8,
    "position": [
      532.207825,
      -136.381149,
      283.309021
    ],
    "rotation_matrix": [
      [
        0.6512855456189747,
        -0.7588327285401248,
        0.00016782176119251035
      ],
      [
        -6.317821495166465e-05,
        0.00016693362787201238,
        0.9999999840708383
      ],
      [
        -0.7588327444676513,
        -0.6512855458472212,
        6.077976167462307e-05
      ]
    ],
    "position_light": [
      171.243835,
      194.275101,
      317.747681
    ],
    "rotation_matrix_light": [
      [
        0.00636276167561578,
        -0.005140822010851531,
        -0.9999665430467721
      ],
      [
        -0.7777956342892397,
        0.6284640311852204,
        -0.008180023656531199
      ],
      [
        0.6284850567391864,
        0.77782165915811,
        2.5793542990371066e-07
      ]
    ],
    "servo_angle": [
      [
        47.830001,
        -2.896817,
        -57.331131,
        119.316857,
        50.126817,
        9.492306,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.992579,
        -30.029119,
        -36.755529,
        -83.99842,
        101.218037,
        62.933512,
        0.0
      ]
    ],
    "turn_angle": 361.95471604110554,
    "filename": "scan-0086_light-8_camera-86.png"
  },
  {
    "id": 87,
    "scan_id": "0087",
    "camera_id": 87,
    "light_id": 8,
    "position": [
      509.313965,
      -136.381149,
      306.264832
    ],
    "rotation_matrix": [
      [
        0.6982051756069176,
        -0.7158976924817892,
        0.00016326347743611525
      ],
      [
        -6.284309474330341e-05,
        0.00016676419283984112,
        0.9999999841202248
      ],
      [
        -0.7158977083399968,
        -0.6982051747795585,
        7.144639603157144e-05
      ]
    ],
    "position_light": [
      171.243835,
      194.275101,
      317.747681
    ],
    "rotation_matrix_light": [
      [
        0.00636276167561578,
        -0.005140822010851531,
        -0.9999665430467721
      ],
      [
        -0.7777956342892397,
        0.6284640311852204,
        -0.008180023656531199
      ],
      [
        0.6284850567391864,
        0.77782165915811,
        2.5793542990371066e-07
      ]
    ],
    "servo_angle": [
      [
        50.715187,
        -7.120548,
        -56.271904,
        119.230913,
        46.367985,
        7.920225,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.992579,
        -30.029119,
        -36.755529,
        -83.99842,
        101.218037,
        62.933512,
        0.0
      ]
    ],
    "turn_angle": 361.95471604110554,
    "filename": "scan-0087_light-8_camera-87.png"
  },
  {
    "id": 88,
    "scan_id": "0088",
    "camera_id": 88,
    "light_id": 8,
    "position": [
      481.356323,
      -136.381149,
      330.711914
    ],
    "rotation_matrix": [
      [
        0.7484742241128787,
        -0.6631638643099458,
        0.00015783575001404593
      ],
      [
        -6.287385353237473e-05,
        0.00016704210636631078,
        0.9999999840719065
      ],
      [
        -0.6631638801122259,
        -0.748474222114853,
        8.333104328406282e-05
      ]
    ],
    "position_light": [
      171.243835,
      194.275101,
      317.747681
    ],
    "rotation_matrix_light": [
      [
        0.00636276167561578,
        -0.005140822010851531,
        -0.9999665430467721
      ],
      [
        -0.7777956342892397,
        0.6284640311852204,
        -0.008180023656531199
      ],
      [
        0.6284850567391864,
        0.77782165915811,
        2.5793542990371066e-07
      ]
    ],
    "servo_angle": [
      [
        54.546728,
        -11.606693,
        -55.397628,
        119.202208,
        41.572786,
        5.894934,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.992579,
        -30.029119,
        -36.755529,
        -83.99842,
        101.218037,
        62.933512,
        0.0
      ]
    ],
    "turn_angle": 361.95471604110554,
    "filename": "scan-0088_light-8_camera-88.png"
  },
  {
    "id": 89,
    "scan_id": "0089",
    "camera_id": 89,
    "light_id": 8,
    "position": [
      454.083038,
      -136.381149,
      351.380829
    ],
    "rotation_matrix": [
      [
        0.791281087347224,
        -0.611452547545704,
        0.00015134881473638506
      ],
      [
        -6.250614337072191e-05,
        0.00016663416262824304,
        0.999999984163019
      ],
      [
        -0.6114525630820244,
        -0.7912810842759511,
        9.363492079234037e-05
      ]
    ],
    "position_light": [
      171.243835,
      194.275101,
      317.747681
    ],
    "rotation_matrix_light": [
      [
        0.00636276167561578,
        -0.005140822010851531,
        -0.9999665430467721
      ],
      [
        -0.7777956342892397,
        0.6284640311852204,
        -0.008180023656531199
      ],
      [
        0.6284850567391864,
        0.77782165915811,
        2.5793542990371066e-07
      ]
    ],
    "servo_angle": [
      [
        58.62063,
        -15.3241,
        -54.950434,
        119.316742,
        36.663627,
        3.694948,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.992579,
        -30.029119,
        -36.755529,
        -83.99842,
        101.218037,
        62.933512,
        0.0
      ]
    ],
    "turn_angle": 361.95471604110554,
    "filename": "scan-0089_light-8_camera-89.png"
  },
  {
    "id": 90,
    "scan_id": "0090",
    "camera_id": 90,
    "light_id": 9,
    "position": [
      418.619995,
      -136.381149,
      374.287537
    ],
    "rotation_matrix": [
      [
        0.8391634746541462,
        -0.5438792532867145,
        0.00014370339589514503
      ],
      [
        -6.293457368050648e-05,
        0.0001671161338274718,
        0.9999999840557184
      ],
      [
        -0.5438792686301064,
        -0.8391634703181995,
        0.0001060089465941827
      ]
    ],
    "position_light": [
      -64.796829,
      197.764954,
      343.730835
    ],
    "rotation_matrix_light": [
      [
        0.44795311336706556,
        -0.4159494938637588,
        -0.7914063600826287
      ],
      [
        -0.5799416579362598,
        0.5385087744590951,
        -0.6112904164312616
      ],
      [
        0.6804452083855794,
        0.7327989617794541,
        2.430053381852204e-07
      ]
    ],
    "servo_angle": [
      [
        64.401946,
        -19.224453,
        -54.944934,
        119.851369,
        29.947816,
        0.269806,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.077796,
        -17.347042,
        -57.453171,
        -152.726312,
        17.248436,
        106.837549,
        0.0
      ]
    ],
    "turn_angle": 389.9445278115734,
    "filename": "scan-0090_light-9_camera-90.png"
  },
  {
    "id": 91,
    "scan_id": "0091",
    "camera_id": 91,
    "light_id": 9,
    "position": [
      396.328522,
      -136.381149,
      386.670959
    ],
    "rotation_matrix": [
      [
        0.8653119129568385,
        -0.5012337520158127,
        0.0001383297783302817
      ],
      [
        -6.317393303822971e-05,
        0.00016691736928015066,
        0.999999984073823
      ],
      [
        -0.5012337671227178,
        -0.8653119079145639,
        0.00011277068063114681
      ]
    ],
    "position_light": [
      -64.796829,
      197.764954,
      343.730835
    ],
    "rotation_matrix_light": [
      [
        0.44795311336706556,
        -0.4159494938637588,
        -0.7914063600826287
      ],
      [
        -0.5799416579362598,
        0.5385087744590951,
        -0.6112904164312616
      ],
      [
        0.6804452083855794,
        0.7327989617794541,
        2.430053381852204e-07
      ]
    ],
    "servo_angle": [
      [
        68.284881,
        -21.141512,
        -55.283036,
        120.565045,
        25.56234,
        -2.383447,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.077796,
        -17.347042,
        -57.453171,
        -152.726312,
        17.248436,
        106.837549,
        0.0
      ]
    ],
    "turn_angle": 389.9445278115734,
    "filename": "scan-0091_light-9_camera-91.png"
  },
  {
    "id": 92,
    "scan_id": "0092",
    "camera_id": 92,
    "light_id": 9,
    "position": [
      365.976257,
      -136.381149,
      401.295624
    ],
    "rotation_matrix": [
      [
        0.896531878343233,
        -0.44297920279779945,
        0.00013039547889887038
      ],
      [
        -6.276185437162352e-05,
        0.0001673384961642932,
        0.9999999840293887
      ],
      [
        -0.4429792175433341,
        -0.8965318722089328,
        0.00012222210006967993
      ]
    ],
    "position_light": [
      -64.796829,
      197.764954,
      343.730835
    ],
    "rotation_matrix_light": [
      [
        0.44795311336706556,
        -0.4159494938637588,
        -0.7914063600826287
      ],
      [
        -0.5799416579362598,
        0.5385087744590951,
        -0.6112904164312616
      ],
      [
        0.6804452083855794,
        0.7327989617794541,
        2.430053381852204e-07
      ]
    ],
    "servo_angle": [
      [
        73.790948,
        -23.084183,
        -56.210311,
        122.338063,
        19.46647,
        -6.961552,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.077796,
        -17.347042,
        -57.453171,
        -152.726312,
        17.248436,
        106.837549,
        0.0
      ]
    ],
    "turn_angle": 389.9445278115734,
    "filename": "scan-0092_light-9_camera-92.png"
  },
  {
    "id": 93,
    "scan_id": "0093",
    "camera_id": 93,
    "light_id": 9,
    "position": [
      339.565765,
      -136.381149,
      412.08905
    ],
    "rotation_matrix": [
      [
        0.9199113386312965,
        -0.3921264004411432,
        0.00012302295868035773
      ],
      [
        -6.255215674325076e-05,
        0.00016698829358807732,
        0.9999999841010686
      ],
      [
        -0.3921264147501464,
        -0.9199113317010407,
        0.00012908607262673844
      ]
    ],
    "position_light": [
      -64.796829,
      197.764954,
      343.730835
    ],
    "rotation_matrix_light": [
      [
        0.44795311336706556,
        -0.4159494938637588,
        -0.7914063600826287
      ],
      [
        -0.5799416579362598,
        0.5385087744590951,
        -0.6112904164312616
      ],
      [
        0.6804452083855794,
        0.7327989617794541,
        2.430053381852204e-07
      ]
    ],
    "servo_angle": [
      [
        78.6439,
        -24.142092,
        -57.528801,
        125.112726,
        14.163574,
        -12.334406,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.077796,
        -17.347042,
        -57.453171,
        -152.726312,
        17.248436,
        106.837549,
        0.0
      ]
    ],
    "turn_angle": 389.9445278115734,
    "filename": "scan-0093_light-9_camera-93.png"
  },
  {
    "id": 94,
    "scan_id": "0094",
    "camera_id": 94,
    "light_id": 9,
    "position": [
      289.099457,
      -136.381149,
      428.144135
    ],
    "rotation_matrix": [
      [
        0.9556294683012527,
        -0.294571396005598,
        0.00010940556640021137
      ],
      [
        -6.307952671347206e-05,
        0.00016676741446541854,
        0.9999999841048012
      ],
      [
        -0.29457140956861055,
        -0.9556294600125838,
        0.00014078643137216407
      ]
    ],
    "position_light": [
      -64.796829,
      197.764954,
      343.730835
    ],
    "rotation_matrix_light": [
      [
        0.44795311336706556,
        -0.4159494938637588,
        -0.7914063600826287
      ],
      [
        -0.5799416579362598,
        0.5385087744590951,
        -0.6112904164312616
      ],
      [
        0.6804452083855794,
        0.7327989617794541,
        2.430053381852204e-07
      ]
    ],
    "servo_angle": [
      [
        87.027132,
        -24.544767,
        -61.790748,
        136.863574,
        4.793881,
        -29.465329,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.077796,
        -17.347042,
        -57.453171,
        -152.726312,
        17.248436,
        106.837549,
        0.0
      ]
    ],
    "turn_angle": 389.9445278115734,
    "filename": "scan-0094_light-9_camera-94.png"
  },
  {
    "id": 95,
    "scan_id": "0095",
    "camera_id": 95,
    "light_id": 9,
    "position": [
      250.588318,
      -136.381149,
      436.648834
    ],
    "rotation_matrix": [
      [
        0.9755426336045907,
        -0.2198102830088003,
        9.748543876100801e-05
      ],
      [
        -6.243592237879791e-05,
        0.0001664004639443939,
        0.9999999842063207
      ],
      [
        -0.21981029575880934,
        -0.9755426242837764,
        0.0001486066890613036
      ]
    ],
    "position_light": [
      -64.796829,
      197.764954,
      343.730835
    ],
    "rotation_matrix_light": [
      [
        0.44795311336706556,
        -0.4159494938637588,
        -0.7914063600826287
      ],
      [
        -0.5799416579362598,
        0.5385087744590951,
        -0.6112904164312616
      ],
      [
        0.6804452083855794,
        0.7327989617794541,
        2.430053381852204e-07
      ]
    ],
    "servo_angle": [
      [
        90.576148,
        -23.722687,
        -66.467172,
        156.743548,
        -0.375402,
        -53.773636,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.077796,
        -17.347042,
        -57.453171,
        -152.726312,
        17.248436,
        106.837549,
        0.0
      ]
    ],
    "turn_angle": 389.9445278115734,
    "filename": "scan-0095_light-9_camera-95.png"
  },
  {
    "id": 96,
    "scan_id": "0096",
    "camera_id": 96,
    "light_id": 9,
    "position": [
      228.987228,
      -136.381149,
      440.072845
    ],
    "rotation_matrix": [
      [
        0.9840732858619371,
        -0.1777632123353263,
        9.161394938431155e-05
      ],
      [
        -6.298189456271919e-05,
        0.0001667113662496833,
        0.9999999841203004
      ],
      [
        -0.17776322478558657,
        -0.9840732760051691,
        0.00015286033807948574
      ]
    ],
    "position_light": [
      -64.796829,
      197.764954,
      343.730835
    ],
    "rotation_matrix_light": [
      [
        0.44795311336706556,
        -0.4159494938637588,
        -0.7914063600826287
      ],
      [
        -0.5799416579362598,
        0.5385087744590951,
        -0.6112904164312616
      ],
      [
        0.6804452083855794,
        0.7327989617794541,
        2.430053381852204e-07
      ]
    ],
    "servo_angle": [
      [
        90.727122,
        -23.247648,
        -68.56225,
        173.172884,
        -1.923992,
        -72.698146,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.077796,
        -17.347042,
        -57.453171,
        -152.726312,
        17.248436,
        106.837549,
        0.0
      ]
    ],
    "turn_angle": 389.9445278115734,
    "filename": "scan-0096_light-9_camera-96.png"
  },
  {
    "id": 97,
    "scan_id": "0097",
    "camera_id": 97,
    "light_id": 9,
    "position": [
      208.705276,
      -136.381149,
      442.430389
    ],
    "rotation_matrix": [
      [
        0.9904027846981138,
        -0.13821113083392475,
        8.588264726545891e-05
      ],
      [
        -6.338699023403227e-05,
        0.000167164497621497,
        0.9999999840190599
      ],
      [
        -0.13821114298171056,
        -0.9904027743143888,
        0.00015679939634655193
      ]
    ],
    "position_light": [
      -64.796829,
      197.764954,
      343.730835
    ],
    "rotation_matrix_light": [
      [
        0.44795311336706556,
        -0.4159494938637588,
        -0.7914063600826287
      ],
      [
        -0.5799416579362598,
        0.5385087744590951,
        -0.6112904164312616
      ],
      [
        0.6804452083855794,
        0.7327989617794541,
        2.430053381852204e-07
      ]
    ],
    "servo_angle": [
      [
        90.115375,
        -23.113232,
        -69.130968,
        190.63744,
        -2.305468,
        -92.454418,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.077796,
        -17.347042,
        -57.453171,
        -152.726312,
        17.248436,
        106.837549,
        0.0
      ]
    ],
    "turn_angle": 389.9445278115734,
    "filename": "scan-0097_light-9_camera-97.png"
  },
  {
    "id": 98,
    "scan_id": "0098",
    "camera_id": 98,
    "light_id": 9,
    "position": [
      147.784653,
      -136.381149,
      444.61615
    ],
    "rotation_matrix": [
      [
        0.9998195222829648,
        -0.018997854783779668,
        6.614739792647033e-05
      ],
      [
        -6.299501483165125e-05,
        0.00016653202578975623,
        0.999999984149356
      ],
      [
        -0.018997865498311617,
        -0.9998195106021378,
        0.00016530520032609353
      ]
    ],
    "position_light": [
      -64.796829,
      197.764954,
      343.730835
    ],
    "rotation_matrix_light": [
      [
        0.44795311336706556,
        -0.4159494938637588,
        -0.7914063600826287
      ],
      [
        -0.5799416579362598,
        0.5385087744590951,
        -0.6112904164312616
      ],
      [
        0.6804452083855794,
        0.7327989617794541,
        2.430053381852204e-07
      ]
    ],
    "servo_angle": [
      [
        92.81286,
        -24.124789,
        -64.253321,
        232.684578,
        2.913548,
        -141.231977,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.077796,
        -17.347042,
        -57.453171,
        -152.726312,
        17.248436,
        106.837549,
        0.0
      ]
    ],
    "turn_angle": 389.9445278115734,
    "filename": "scan-0098_light-9_camera-98.png"
  },
  {
    "id": 99,
    "scan_id": "0099",
    "camera_id": 99,
    "light_id": 9,
    "position": [
      120.928619,
      -136.381149,
      443.26297
    ],
    "rotation_matrix": [
      [
        0.9994302843769847,
        0.03375060574037712,
        5.729133449688256e-05
      ],
      [
        -6.297049035786789e-05,
        0.00016720533985981056,
        0.9999999840385456
      ],
      [
        0.033750595622251314,
        -0.9994302720322872,
        0.00016923537255875143
      ]
    ],
    "position_light": [
      -64.796829,
      197.764954,
      343.730835
    ],
    "rotation_matrix_light": [
      [
        0.44795311336706556,
        -0.4159494938637588,
        -0.7914063600826287
      ],
      [
        -0.5799416579362598,
        0.5385087744590951,
        -0.6112904164312616
      ],
      [
        0.6804452083855794,
        0.7327989617794541,
        2.430053381852204e-07
      ]
    ],
    "servo_angle": [
      [
        96.952308,
        -24.174808,
        -62.43418,
        241.613151,
        7.386686,
        -152.94925,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.077796,
        -17.347042,
        -57.453171,
        -152.726312,
        17.248436,
        106.837549,
        0.0
      ]
    ],
    "turn_angle": 389.9445278115734,
    "filename": "scan-0099_light-9_camera-99.png"
  },
  {
    "id": 100,
    "scan_id": "0100",
    "camera_id": 100,
    "light_id": 10,
    "position": [
      117.506699,
      -136.381149,
      442.988312
    ],
    "rotation_matrix": [
      [
        0.9991803087817911,
        0.040480950948742545,
        5.61516727209041e-05
      ],
      [
        -6.29547402990066e-05,
        0.00016678128513114565,
        0.9999999841103517
      ],
      [
        0.04048094094046633,
        -0.9991802964401812,
        0.0001691930437304201
      ]
    ],
    "position_light": [
      148.55806,
      175.971436,
      530.742981
    ],
    "rotation_matrix_light": [
      [
        0.05116992983143137,
        0.02504960896967101,
        0.9983757586057027
      ],
      [
        0.8966931910058111,
        0.43897092907778884,
        -0.05697231457820828
      ],
      [
        -0.43968506852616884,
        0.8981520141462964,
        2.9783848659592493e-07
      ]
    ],
    "servo_angle": [
      [
        97.542226,
        -24.141691,
        -62.268423,
        242.434772,
        8.001814,
        -154.116823,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.725113,
        -19.292005,
        -73.816158,
        -267.201733,
        118.693364,
        157.69059,
        0.0
      ]
    ],
    "turn_angle": 437.8075088324589,
    "filename": "scan-0100_light-10_camera-100.png"
  },
  {
    "id": 101,
    "scan_id": "0101",
    "camera_id": 101,
    "light_id": 10,
    "position": [
      78.367607,
      -136.381149,
      438.183838
    ],
    "rotation_matrix": [
      [
        0.9930618396510433,
        0.11759328561627296,
        4.250711526272016e-05
      ],
      [
        -6.256923767072875e-05,
        0.00016691435719828895,
        0.9999999841123437
      ],
      [
        0.11759327665294345,
        -0.993061826533256,
        0.00017311400085973094
      ]
    ],
    "position_light": [
      148.55806,
      175.971436,
      530.742981
    ],
    "rotation_matrix_light": [
      [
        0.05116992983143137,
        0.02504960896967101,
        0.9983757586057027
      ],
      [
        0.8966931910058111,
        0.43897092907778884,
        -0.05697231457820828
      ],
      [
        -0.43968506852616884,
        0.8981520141462964,
        2.9783848659592493e-07
      ]
    ],
    "servo_angle": [
      [
        104.672628,
        -23.120623,
        -61.231942,
        248.623863,
        15.336877,
        -164.138371,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.725113,
        -19.292005,
        -73.816158,
        -267.201733,
        118.693364,
        157.69059,
        0.0
      ]
    ],
    "turn_angle": 437.8075088324589,
    "filename": "scan-0101_light-10_camera-101.png"
  },
  {
    "id": 102,
    "scan_id": "0102",
    "camera_id": 102,
    "light_id": 10,
    "position": [
      68.703239,
      -136.381149,
      436.520416
    ],
    "rotation_matrix": [
      [
        0.9906159571016799,
        0.13667488434613112,
        3.904477510872917e-05
      ],
      [
        -6.241513145052724e-05,
        0.00016670693228215683,
        0.999999984156575
      ],
      [
        0.13667487567169817,
        -0.990615943843915,
        0.00017367312815064206
      ]
    ],
    "position_light": [
      148.55806,
      175.971436,
      530.742981
    ],
    "rotation_matrix_light": [
      [
        0.05116992983143137,
        0.02504960896967101,
        0.9983757586057027
      ],
      [
        0.8966931910058111,
        0.43897092907778884,
        -0.05697231457820828
      ],
      [
        -0.43968506852616884,
        0.8981520141462964,
        2.9783848659592493e-07
      ]
    ],
    "servo_angle": [
      [
        106.462949,
        -22.692738,
        -61.173558,
        249.518823,
        17.17292,
        -165.947542,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.725113,
        -19.292005,
        -73.816158,
        -267.201733,
        118.693364,
        157.69059,
        0.0
      ]
    ],
    "turn_angle": 437.8075088324589,
    "filename": "scan-0102_light-10_camera-102.png"
  },
  {
    "id": 103,
    "scan_id": "0103",
    "camera_id": 103,
    "light_id": 10,
    "position": [
      42.866127,
      -136.381149,
      431.122437
    ],
    "rotation_matrix": [
      [
        0.98221345086755,
        0.18776777150259472,
        3.0328345270058676e-05
      ],
      [
        -6.286286284708231e-05,
        0.00016731521288992912,
        0.99999998402694
      ],
      [
        0.18776776342897525,
        -0.9822134370851221,
        0.00017614287230238723
      ]
    ],
    "position_light": [
      148.55806,
      175.971436,
      530.742981
    ],
    "rotation_matrix_light": [
      [
        0.05116992983143137,
        0.02504960896967101,
        0.9983757586057027
      ],
      [
        0.8966931910058111,
        0.43897092907778884,
        -0.05697231457820828
      ],
      [
        -0.43968506852616884,
        0.8981520141462964,
        2.9783848659592493e-07
      ]
    ],
    "servo_angle": [
      [
        111.171574,
        -21.228602,
        -61.306942,
        251.183723,
        22.018653,
        -169.997781,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.725113,
        -19.292005,
        -73.816158,
        -267.201733,
        118.693364,
        157.69059,
        0.0
      ]
    ],
    "turn_angle": 437.8075088324589,
    "filename": "scan-0103_light-10_camera-103.png"
  },
  {
    "id": 104,
    "scan_id": "0104",
    "camera_id": 104,
    "light_id": 10,
    "position": [
      4.980379,
      -136.381149,
      420.619965
    ],
    "rotation_matrix": [
      [
        0.9648219553038371,
        0.26290415418974666,
        1.6536458092603068e-05
      ],
      [
        -6.270962708151973e-05,
        0.0001672364870910492,
        0.9999999840497298
      ],
      [
        0.2629041472308552,
        -0.9648219409516614,
        0.0001778400559406812
      ]
    ],
    "position_light": [
      148.55806,
      175.971436,
      530.742981
    ],
    "rotation_matrix_light": [
      [
        0.05116992983143137,
        0.02504960896967101,
        0.9983757586057027
      ],
      [
        0.8966931910058111,
        0.43897092907778884,
        -0.05697231457820828
      ],
      [
        -0.43968506852616884,
        0.8981520141462964,
        2.9783848659592493e-07
      ]
    ],
    "servo_angle": [
      [
        117.693323,
        -18.296032,
        -62.121001,
        252.416327,
        28.79726,
        -174.576631,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.725113,
        -19.292005,
        -73.816158,
        -267.201733,
        118.693364,
        157.69059,
        0.0
      ]
    ],
    "turn_angle": 437.8075088324589,
    "filename": "scan-0104_light-10_camera-104.png"
  },
  {
    "id": 105,
    "scan_id": "0105",
    "camera_id": 105,
    "light_id": 10,
    "position": [
      -47.376476,
      -136.381149,
      400.674591
    ],
    "rotation_matrix": [
      [
        0.9301427155947453,
        0.36719821434879796,
        -2.2554332553825773e-06
      ],
      [
        -6.324787019806877e-05,
        0.0001663542375052729,
        0.9999999841629872
      ],
      [
        0.367198208908676,
        -0.9301427007214118,
        0.00017795768722189687
      ]
    ],
    "position_light": [
      148.55806,
      175.971436,
      530.742981
    ],
    "rotation_matrix_light": [
      [
        0.05116992983143137,
        0.02504960896967101,
        0.9983757586057027
      ],
      [
        0.8966931910058111,
        0.43897092907778884,
        -0.05697231457820828
      ],
      [
        -0.43968506852616884,
        0.8981520141462964,
        2.9783848659592493e-07
      ]
    ],
    "servo_angle": [
      [
        125.695997,
        -12.861413,
        -64.216995,
        252.958918,
        37.272165,
        -179.477998,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.725113,
        -19.292005,
        -73.816158,
        -267.201733,
        118.693364,
        157.69059,
        0.0
      ]
    ],
    "turn_angle": 437.8075088324589,
    "filename": "scan-0105_light-10_camera-105.png"
  },
  {
    "id": 106,
    "scan_id": "0106",
    "camera_id": 106,
    "light_id": 10,
    "position": [
      -68.899841,
      -136.381149,
      390.480713
    ],
    "rotation_matrix": [
      [
        0.9119772761851834,
        0.41024071908802495,
        -1.1135268231710072e-05
      ],
      [
        -6.291992550094827e-05,
        0.00016701611308306274,
        0.9999999840733506
      ],
      [
        0.410240714414034,
        -0.9119772609598106,
        0.0001781272153709712
      ]
    ],
    "position_light": [
      148.55806,
      175.971436,
      530.742981
    ],
    "rotation_matrix_light": [
      [
        0.05116992983143137,
        0.02504960896967101,
        0.9983757586057027
      ],
      [
        0.8966931910058111,
        0.43897092907778884,
        -0.05697231457820828
      ],
      [
        -0.43968506852616884,
        0.8981520141462964,
        2.9783848659592493e-07
      ]
    ],
    "servo_angle": [
      [
        128.622722,
        -10.201456,
        -65.371047,
        252.994385,
        40.429163,
        -181.237208,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.725113,
        -19.292005,
        -73.816158,
        -267.201733,
        118.693364,
        157.69059,
        0.0
      ]
    ],
    "turn_angle": 437.8075088324589,
    "filename": "scan-0106_light-10_camera-106.png"
  },
  {
    "id": 107,
    "scan_id": "0107",
    "camera_id": 107,
    "light_id": 10,
    "position": [
      -100.0774,
      -136.381149,
      373.426239
    ],
    "rotation_matrix": [
      [
        0.8811795411107324,
        0.4727817845112342,
        -2.3711856764085937e-05
      ],
      [
        -6.256374221152994e-05,
        0.00016676138680260522,
        0.999999984138209
      ],
      [
        0.4727817809662904,
        -0.881179525650144,
        0.00017652571998616473
      ]
    ],
    "position_light": [
      148.55806,
      175.971436,
      530.742981
    ],
    "rotation_matrix_light": [
      [
        0.05116992983143137,
        0.02504960896967101,
        0.9983757586057027
      ],
      [
        0.8966931910058111,
        0.43897092907778884,
        -0.05697231457820828
      ],
      [
        -0.43968506852616884,
        0.8981520141462964,
        2.9783848659592493e-07
      ]
    ],
    "servo_angle": [
      [
        132.49947,
        -5.930342,
        -67.338297,
        252.953762,
        44.672201,
        -183.655834,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.725113,
        -19.292005,
        -73.816158,
        -267.201733,
        118.693364,
        157.69059,
        0.0
      ]
    ],
    "turn_angle": 437.8075088324589,
    "filename": "scan-0107_light-10_camera-107.png"
  },
  {
    "id": 108,
    "scan_id": "0108",
    "camera_id": 108,
    "light_id": 10,
    "position": [
      -114.781563,
      -136.381149,
      364.363373
    ],
    "rotation_matrix": [
      [
        0.8646560578784734,
        0.5023643107596063,
        -2.9139043616066562e-05
      ],
      [
        -6.31260509459941e-05,
        0.0001666546841020966,
        0.9999999841206589
      ],
      [
        0.50236430763855,
        -0.8646560423088722,
        0.0001758112572571302
      ]
    ],
    "position_light": [
      148.55806,
      175.971436,
      530.742981
    ],
    "rotation_matrix_light": [
      [
        0.05116992983143137,
        0.02504960896967101,
        0.9983757586057027
      ],
      [
        0.8966931910058111,
        0.43897092907778884,
        -0.05697231457820828
      ],
      [
        -0.43968506852616884,
        0.8981520141462964,
        2.9783848659592493e-07
      ]
    ],
    "servo_angle": [
      [
        134.186429,
        -3.74554,
        -68.390477,
        252.912222,
        46.544055,
        -184.769836,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.725113,
        -19.292005,
        -73.816158,
        -267.201733,
        118.693364,
        157.69059,
        0.0
      ]
    ],
    "turn_angle": 437.8075088324589,
    "filename": "scan-0108_light-10_camera-108.png"
  },
  {
    "id": 109,
    "scan_id": "0109",
    "camera_id": 109,
    "light_id": 10,
    "position": [
      -140.417114,
      -136.381149,
      346.834137
    ],
    "rotation_matrix": [
      [
        0.8324608773042875,
        0.5540838259708897,
        -3.9436492031141857e-05
      ],
      [
        -6.326006378776228e-05,
        0.00016621676231964866,
        0.9999999841850761
      ],
      [
        0.5540838237631021,
        -0.832460861644227,
        0.00017342032995792955
      ]
    ],
    "position_light": [
      148.55806,
      175.971436,
      530.742981
    ],
    "rotation_matrix_light": [
      [
        0.05116992983143137,
        0.02504960896967101,
        0.9983757586057027
      ],
      [
        0.8966931910058111,
        0.43897092907778884,
        -0.05697231457820828
      ],
      [
        -0.43968506852616884,
        0.8981520141462964,
        2.9783848659592493e-07
      ]
    ],
    "servo_angle": [
      [
        136.925282,
        0.330367,
        -70.426368,
        252.821523,
        49.6225,
        -186.708955,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.725113,
        -19.292005,
        -73.816158,
        -267.201733,
        118.693364,
        157.69059,
        0.0
      ]
    ],
    "turn_angle": 437.8075088324589,
    "filename": "scan-0109_light-10_camera-109.png"
  },
  {
    "id": 110,
    "scan_id": "0110",
    "camera_id": 110,
    "light_id": 11,
    "position": [
      -188.982193,
      -136.381149,
      306.576721
    ],
    "rotation_matrix": [
      [
        0.757652881802071,
        0.6526577257046219,
        -6.144174446526263e-05
      ],
      [
        -6.289114389834705e-05,
        0.00016714948065932322,
        0.9999999840528776
      ],
      [
        0.6526577255665649,
        -0.757652865855546,
        0.00016768767665698014
      ]
    ],
    "position_light": [
      214.954681,
      215.877045,
      171.102112
    ],
    "rotation_matrix_light": [
      [
        0.140482290514987,
        0.19858079271338114,
        0.9699641203761034
      ],
      [
        0.5601797628207775,
        0.7918516452865916,
        -0.24324803222837257
      ],
      [
        -0.8163720716546594,
        0.5775263116276549,
        1.9151497748781665e-07
      ]
    ],
    "servo_angle": [
      [
        141.479208,
        9.062244,
        -75.076035,
        252.624426,
        54.875606,
        -190.53001,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.562651,
        -22.39841,
        -20.192866,
        -273.154936,
        93.909043,
        77.743154,
        0.0
      ]
    ],
    "turn_angle": 479.31052469691866,
    "filename": "scan-0110_light-11_camera-110.png"
  },
  {
    "id": 111,
    "scan_id": "0111",
    "camera_id": 111,
    "light_id": 11,
    "position": [
      -204.410416,
      -136.381149,
      291.458801
    ],
    "rotation_matrix": [
      [
        0.7293232869312392,
        0.6841692322797828,
        -6.885859079180934e-05
      ],
      [
        -6.271623973186369e-05,
        0.00016750096085693666,
        0.9999999840050504
      ],
      [
        0.6841692328704105,
        -0.7293232709471982,
        0.00016507087292516598
      ]
    ],
    "position_light": [
      214.954681,
      215.877045,
      171.102112
    ],
    "rotation_matrix_light": [
      [
        0.140482290514987,
        0.19858079271338114,
        0.9699641203761034
      ],
      [
        0.5601797628207775,
        0.7918516452865916,
        -0.24324803222837257
      ],
      [
        -0.8163720716546594,
        0.5775263116276549,
        1.9151497748781665e-07
      ]
    ],
    "servo_angle": [
      [
        142.771285,
        12.154956,
        -76.810493,
        252.560025,
        56.405289,
        -191.831828,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.562651,
        -22.39841,
        -20.192866,
        -273.154936,
        93.909043,
        77.743154,
        0.0
      ]
    ],
    "turn_angle": 479.31052469691866,
    "filename": "scan-0111_light-11_camera-111.png"
  },
  {
    "id": 112,
    "scan_id": "0112",
    "camera_id": 112,
    "light_id": 11,
    "position": [
      -215.672455,
      -136.381149,
      279.569336
    ],
    "rotation_matrix": [
      [
        0.706970405757737,
        0.7072431265314578,
        -7.318981451476247e-05
      ],
      [
        -6.291636380745258e-05,
        0.0001663781749052795,
        0.9999999841799169
      ],
      [
        0.7072431275200006,
        -0.7069703899685694,
        0.00016212161167128425
      ]
    ],
    "position_light": [
      214.954681,
      215.877045,
      171.102112
    ],
    "rotation_matrix_light": [
      [
        0.140482290514987,
        0.19858079271338114,
        0.9699641203761034
      ],
      [
        0.5601797628207775,
        0.7918516452865916,
        -0.24324803222837257
      ],
      [
        -0.8163720716546594,
        0.5775263116276549,
        1.9151497748781665e-07
      ]
    ],
    "servo_angle": [
      [
        143.672204,
        14.527345,
        -78.170809,
        252.512756,
        57.484856,
        -192.823617,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.562651,
        -22.39841,
        -20.192866,
        -273.154936,
        93.909043,
        77.743154,
        0.0
      ]
    ],
    "turn_angle": 479.31052469691866,
    "filename": "scan-0112_light-11_camera-112.png"
  },
  {
    "id": 113,
    "scan_id": "0113",
    "camera_id": 113,
    "light_id": 11,
    "position": [
      -246.756012,
      -136.381149,
      242.257828
    ],
    "rotation_matrix": [
      [
        0.6364626186861946,
        0.7713075438171038,
        -8.869012469464588e-05
      ],
      [
        -6.30066649875971e-05,
        0.00016697815457306087,
        0.9999999840742279
      ],
      [
        0.771307546342749,
        -0.636462602961967,
        0.0001548728695386914
      ]
    ],
    "position_light": [
      214.954681,
      215.877045,
      171.102112
    ],
    "rotation_matrix_light": [
      [
        0.140482290514987,
        0.19858079271338114,
        0.9699641203761034
      ],
      [
        0.5601797628207775,
        0.7918516452865916,
        -0.24324803222837257
      ],
      [
        -0.8163720716546594,
        0.5775263116276549,
        1.9151497748781665e-07
      ]
    ],
    "servo_angle": [
      [
        145.988901,
        21.681296,
        -82.425766,
        252.378627,
        60.321512,
        -195.810561,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.562651,
        -22.39841,
        -20.192866,
        -273.154936,
        93.909043,
        77.743154,
        0.0
      ]
    ],
    "turn_angle": 479.31052469691866,
    "filename": "scan-0113_light-11_camera-113.png"
  },
  {
    "id": 114,
    "scan_id": "0114",
    "camera_id": 114,
    "light_id": 11,
    "position": [
      -261.119446,
      -136.381149,
      222.256348
    ],
    "rotation_matrix": [
      [
        0.5984726830876256,
        0.801143207120006,
        -9.635024243315193e-05
      ],
      [
        -6.283903815057501e-05,
        0.0001672081688642857,
        0.9999999840463414
      ],
      [
        0.8011432104493886,
        -0.5984726674852403,
        0.00015041259001069562
      ]
    ],
    "position_light": [
      214.954681,
      215.877045,
      171.102112
    ],
    "rotation_matrix_light": [
      [
        0.140482290514987,
        0.19858079271338114,
        0.9699641203761034
      ],
      [
        0.5601797628207775,
        0.7918516452865916,
        -0.24324803222837257
      ],
      [
        -0.8163720716546594,
        0.5775263116276549,
        1.9151497748781665e-07
      ]
    ],
    "servo_angle": [
      [
        146.982639,
        25.363409,
        -84.70396,
        252.312221,
        61.571993,
        -197.360469,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.562651,
        -22.39841,
        -20.192866,
        -273.154936,
        93.909043,
        77.743154,
        0.0
      ]
    ],
    "turn_angle": 479.31052469691866,
    "filename": "scan-0114_light-11_camera-114.png"
  },
  {
    "id": 115,
    "scan_id": "0115",
    "camera_id": 115,
    "light_id": 11,
    "position": [
      -288.143219,
      -136.381149,
      177.95163
    ],
    "rotation_matrix": [
      [
        0.5139166787754026,
        0.8578400987416372,
        -0.00011075828475082261
      ],
      [
        -6.269707180855955e-05,
        0.0001666736657767176,
        0.9999999841444831
      ],
      [
        0.8578401036006283,
        -0.5139166636827679,
        0.0001394404390263615
      ]
    ],
    "position_light": [
      214.954681,
      215.877045,
      171.102112
    ],
    "rotation_matrix_light": [
      [
        0.140482290514987,
        0.19858079271338114,
        0.9699641203761034
      ],
      [
        0.5601797628207775,
        0.7918516452865916,
        -0.24324803222837257
      ],
      [
        -0.8163720716546594,
        0.5775263116276549,
        1.9151497748781665e-07
      ]
    ],
    "servo_angle": [
      [
        148.736578,
        33.226453,
        -89.767876,
        252.168695,
        63.850875,
        -200.730664,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.562651,
        -22.39841,
        -20.192866,
        -273.154936,
        93.909043,
        77.743154,
        0.0
      ]
    ],
    "turn_angle": 479.31052469691866,
    "filename": "scan-0115_light-11_camera-115.png"
  },
  {
    "id": 116,
    "scan_id": "0116",
    "camera_id": 116,
    "light_id": 11,
    "position": [
      -293.759247,
      -136.381149,
      167.293747
    ],
    "rotation_matrix": [
      [
        0.4935017236016673,
        0.8697448107118984,
        -0.00011420117139265828
      ],
      [
        -6.267847461866038e-05,
        0.0001668686068003744,
        0.9999999841131382
      ],
      [
        0.8697448159509733,
        -0.49350170860351844,
        0.00013686422311387503
      ]
    ],
    "position_light": [
      214.954681,
      215.877045,
      171.102112
    ],
    "rotation_matrix_light": [
      [
        0.140482290514987,
        0.19858079271338114,
        0.9699641203761034
      ],
      [
        0.5601797628207775,
        0.7918516452865916,
        -0.24324803222837257
      ],
      [
        -0.8163720716546594,
        0.5775263116276549,
        1.9151497748781665e-07
      ]
    ],
    "servo_angle": [
      [
        149.083962,
        35.068799,
        -90.993662,
        252.13363,
        64.316804,
        -201.535269,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.562651,
        -22.39841,
        -20.192866,
        -273.154936,
        93.909043,
        77.743154,
        0.0
      ]
    ],
    "turn_angle": 479.31052469691866,
    "filename": "scan-0116_light-11_camera-116.png"
  },
  {
    "id": 117,
    "scan_id": "0117",
    "camera_id": 117,
    "light_id": 11,
    "position": [
      -315.194702,
      -136.381149,
      119.520493
    ],
    "rotation_matrix": [
      [
        0.40167790954787325,
        0.9157810004599083,
        -0.00012719237571456876
      ],
      [
        -6.306036599496023e-05,
        0.00016654891246831172,
        0.9999999841424252
      ],
      [
        0.9157810071215942,
        -0.40167789515743785,
        0.000124648504057967
      ]
    ],
    "position_light": [
      214.954681,
      215.877045,
      171.102112
    ],
    "rotation_matrix_light": [
      [
        0.140482290514987,
        0.19858079271338114,
        0.9699641203761034
      ],
      [
        0.5601797628207775,
        0.7918516452865916,
        -0.24324803222837257
      ],
      [
        -0.8163720716546594,
        0.5775263116276549,
        1.9151497748781665e-07
      ]
    ],
    "servo_angle": [
      [
        150.363892,
        43.15541,
        -96.553473,
        251.968274,
        66.097156,
        -205.146794,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.562651,
        -22.39841,
        -20.192866,
        -273.154936,
        93.909043,
        77.743154,
        0.0
      ]
    ],
    "turn_angle": 479.31052469691866,
    "filename": "scan-0117_light-11_camera-117.png"
  },
  {
    "id": 118,
    "scan_id": "0118",
    "camera_id": 118,
    "light_id": 11,
    "position": [
      -326.292389,
      -136.381149,
      87.897133
    ],
    "rotation_matrix": [
      [
        0.3406351022375601,
        0.9401955695004618,
        -0.00013496410433350148
      ],
      [
        -6.301916398715468e-05,
        0.0001663809601317734,
        0.9999999841729805
      ],
      [
        0.9401955770754253,
        -0.3406350883409967,
        0.00011592553413924955
      ]
    ],
    "position_light": [
      214.954681,
      215.877045,
      171.102112
    ],
    "rotation_matrix_light": [
      [
        0.140482290514987,
        0.19858079271338114,
        0.9699641203761034
      ],
      [
        0.5601797628207775,
        0.7918516452865916,
        -0.24324803222837257
      ],
      [
        -0.8163720716546594,
        0.5775263116276549,
        1.9151497748781665e-07
      ]
    ],
    "servo_angle": [
      [
        151.003371,
        48.39849,
        -100.319008,
        251.847896,
        67.04374,
        -207.56416,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.562651,
        -22.39841,
        -20.192866,
        -273.154936,
        93.909043,
        77.743154,
        0.0
      ]
    ],
    "turn_angle": 479.31052469691866,
    "filename": "scan-0118_light-11_camera-118.png"
  },
  {
    "id": 119,
    "scan_id": "0119",
    "camera_id": 119,
    "light_id": 11,
    "position": [
      -336.285767,
      -136.381149,
      51.439915
    ],
    "rotation_matrix": [
      [
        0.27002434564661193,
        0.962853484225234,
        -0.00014378263530756552
      ],
      [
        -6.29160665978068e-05,
        0.00016697400525245154,
        0.9999999840806251
      ],
      [
        0.9628534929051707,
        -0.2700243323017553,
        0.00010566600044570329
      ]
    ],
    "position_light": [
      214.954681,
      215.877045,
      171.102112
    ],
    "rotation_matrix_light": [
      [
        0.140482290514987,
        0.19858079271338114,
        0.9699641203761034
      ],
      [
        0.5601797628207775,
        0.7918516452865916,
        -0.24324803222837257
      ],
      [
        -0.8163720716546594,
        0.5775263116276549,
        1.9151497748781665e-07
      ]
    ],
    "servo_angle": [
      [
        151.572776,
        54.388706,
        -104.784871,
        251.695432,
        67.945804,
        -210.404083,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.562651,
        -22.39841,
        -20.192866,
        -273.154936,
        93.909043,
        77.743154,
        0.0
      ]
    ],
    "turn_angle": 479.31052469691866,
    "filename": "scan-0119_light-11_camera-119.png"
  },
  {
    "id": 120,
    "scan_id": "0120",
    "camera_id": 120,
    "light_id": 12,
    "position": [
      -336.256012,
      -136.381149,
      51.566715
    ],
    "rotation_matrix": [
      [
        0.2700243456466118,
        0.962853484367798,
        -0.00014282475238708292
      ],
      [
        -6.291606659775129e-05,
        0.00016597916759447662,
        0.9999999842462423
      ],
      [
        0.9628534929051709,
        -0.27002433240674206,
        0.00010539737006703964
      ]
    ],
    "position_light": [
      8.550139,
      215.354034,
      172.032791
    ],
    "rotation_matrix_light": [
      [
        0.2484593227332237,
        -0.3742299693725254,
        -0.8934315278578359
      ],
      [
        -0.49417082318825745,
        0.7443219011152773,
        -0.4491994045294137
      ],
      [
        0.8331045327306702,
        0.5531155734053946,
        1.8342007002125627e-07
      ]
    ],
    "servo_angle": [
      [
        151.571115,
        54.367965,
        -104.769057,
        251.696005,
        67.942997,
        -210.408781,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.071597,
        -18.521663,
        -26.442117,
        -138.093543,
        53.226576,
        118.791225,
        0.0
      ]
    ],
    "turn_angle": 504.0236831247571,
    "filename": "scan-0120_light-12_camera-120.png"
  },
  {
    "id": 121,
    "scan_id": "0121",
    "camera_id": 121,
    "light_id": 12,
    "position": [
      -325.611908,
      -136.381149,
      90.044861
    ],
    "rotation_matrix": [
      [
        0.34478648639488674,
        0.9386811281882246,
        -0.00013558300263966094
      ],
      [
        -6.275215295759029e-05,
        0.0001674893529673982,
        0.999999984004742
      ],
      [
        0.9386811358824869,
        -0.34478647237181265,
        0.00011665232725266428
      ]
    ],
    "position_light": [
      8.550139,
      215.354034,
      172.032791
    ],
    "rotation_matrix_light": [
      [
        0.2484593227332237,
        -0.3742299693725254,
        -0.8934315278578359
      ],
      [
        -0.49417082318825745,
        0.7443219011152773,
        -0.4491994045294137
      ],
      [
        0.8331045327306702,
        0.5531155734053946,
        1.8342007002125627e-07
      ]
    ],
    "servo_angle": [
      [
        150.964524,
        48.04423,
        -100.06049,
        251.856376,
        66.984553,
        -207.398804,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.071597,
        -18.521663,
        -26.442117,
        -138.093543,
        53.226576,
        118.791225,
        0.0
      ]
    ],
    "turn_angle": 504.0236831247571,
    "filename": "scan-0121_light-12_camera-121.png"
  },
  {
    "id": 122,
    "scan_id": "0122",
    "camera_id": 122,
    "light_id": 12,
    "position": [
      -318.385651,
      -136.381149,
      111.082367
    ],
    "rotation_matrix": [
      [
        0.38540927145213555,
        0.9227457269631021,
        -0.00012980781934346375
      ],
      [
        -6.282028534293493e-05,
        0.00016691417059438995,
        0.9999999840966354
      ],
      [
        0.9227457339551051,
        -0.38540925716826724,
        0.0001222974187506387
      ]
    ],
    "position_light": [
      8.550139,
      215.354034,
      172.032791
    ],
    "rotation_matrix_light": [
      [
        0.2484593227332237,
        -0.3742299693725254,
        -0.8934315278578359
      ],
      [
        -0.49417082318825745,
        0.7443219011152773,
        -0.4491994045294137
      ],
      [
        0.8331045327306702,
        0.5531155734053946,
        1.8342007002125627e-07
      ]
    ],
    "servo_angle": [
      [
        150.549072,
        44.560876,
        -97.55019,
        251.937106,
        66.365988,
        -205.788736,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.071597,
        -18.521663,
        -26.442117,
        -138.093543,
        53.226576,
        118.791225,
        0.0
      ]
    ],
    "turn_angle": 504.0236831247571,
    "filename": "scan-0122_light-12_camera-122.png"
  },
  {
    "id": 123,
    "scan_id": "0123",
    "camera_id": 123,
    "light_id": 12,
    "position": [
      -292.720428,
      -136.381149,
      169.311813
    ],
    "rotation_matrix": [
      [
        0.49736979002598225,
        0.8675386325902121,
        -0.00011372341522569718
      ],
      [
        -6.266626553841359e-05,
        0.00016701471877544893,
        0.9999999840895113
      ],
      [
        0.8675386377807328,
        -0.4973697749859641,
        0.00013743348192329918
      ]
    ],
    "position_light": [
      8.550139,
      215.354034,
      172.032791
    ],
    "rotation_matrix_light": [
      [
        0.2484593227332237,
        -0.3742299693725254,
        -0.8934315278578359
      ],
      [
        -0.49417082318825745,
        0.7443219011152773,
        -0.4491994045294137
      ],
      [
        0.8331045327306702,
        0.5531155734053946,
        1.8342007002125627e-07
      ]
    ],
    "servo_angle": [
      [
        149.020135,
        34.721185,
        -90.76127,
        252.140334,
        64.230689,
        -201.382977,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.071597,
        -18.521663,
        -26.442117,
        -138.093543,
        53.226576,
        118.791225,
        0.0
      ]
    ],
    "turn_angle": 504.0236831247571,
    "filename": "scan-0123_light-12_camera-123.png"
  },
  {
    "id": 124,
    "scan_id": "0124",
    "camera_id": 124,
    "light_id": 12,
    "position": [
      -282.055878,
      -136.381149,
      188.859085
    ],
    "rotation_matrix": [
      [
        0.5347816511876193,
        0.8449902804744884,
        -0.00010703592520489025
      ],
      [
        -6.310514999868788e-05,
        0.00016660949016106263,
        0.9999999841295091
      ],
      [
        0.8449902848972786,
        -0.5347816359458537,
        0.0001424229366485119
      ]
    ],
    "position_light": [
      8.550139,
      215.354034,
      172.032791
    ],
    "rotation_matrix_light": [
      [
        0.2484593227332237,
        -0.3742299693725254,
        -0.8934315278578359
      ],
      [
        -0.49417082318825745,
        0.7443219011152773,
        -0.4491994045294137
      ],
      [
        0.8331045327306702,
        0.5531155734053946,
        1.8342007002125627e-07
      ]
    ],
    "servo_angle": [
      [
        148.353727,
        31.323087,
        -88.517224,
        252.204161,
        63.343865,
        -199.905777,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.071597,
        -18.521663,
        -26.442117,
        -138.093543,
        53.226576,
        118.791225,
        0.0
      ]
    ],
    "turn_angle": 504.0236831247571,
    "filename": "scan-0124_light-12_camera-124.png"
  },
  {
    "id": 125,
    "scan_id": "0125",
    "camera_id": 125,
    "light_id": 12,
    "position": [
      -268.533905,
      -136.381149,
      211.073364
    ],
    "rotation_matrix": [
      [
        0.577180106136771,
        0.816616871720424,
        -9.95062521751966e-05
      ],
      [
        -6.29102144649174e-05,
        0.00016631639581221602,
        0.9999999841905804
      ],
      [
        0.8166168753597065,
        -0.5771800907519289,
        0.0001473680575228009
      ]
    ],
    "position_light": [
      8.550139,
      215.354034,
      172.032791
    ],
    "rotation_matrix_light": [
      [
        0.2484593227332237,
        -0.3742299693725254,
        -0.8934315278578359
      ],
      [
        -0.49417082318825745,
        0.7443219011152773,
        -0.4491994045294137
      ],
      [
        0.8331045327306702,
        0.5531155734053946,
        1.8342007002125627e-07
      ]
    ],
    "servo_angle": [
      [
        147.478248,
        27.383143,
        -85.978849,
        252.275896,
        62.205455,
        -198.217328,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.071597,
        -18.521663,
        -26.442117,
        -138.093543,
        53.226576,
        118.791225,
        0.0
      ]
    ],
    "turn_angle": 504.0236831247571,
    "filename": "scan-0125_light-12_camera-125.png"
  },
  {
    "id": 126,
    "scan_id": "0126",
    "camera_id": 126,
    "light_id": 12,
    "position": [
      -246.03183,
      -136.381149,
      243.214172
    ],
    "rotation_matrix": [
      [
        0.6382765080475455,
        0.7698071780875997,
        -8.854060381086049e-05
      ],
      [
        -6.255124957926794e-05,
        0.00016688022561617277,
        0.9999999841191658
      ],
      [
        0.7698071806380953,
        -0.6382764923728566,
        0.00015466812859288304
      ]
    ],
    "position_light": [
      8.550139,
      215.354034,
      172.032791
    ],
    "rotation_matrix_light": [
      [
        0.2484593227332237,
        -0.3742299693725254,
        -0.8934315278578359
      ],
      [
        -0.49417082318825745,
        0.7443219011152773,
        -0.4491994045294137
      ],
      [
        0.8331045327306702,
        0.5531155734053946,
        1.8342007002125627e-07
      ]
    ],
    "servo_angle": [
      [
        145.937622,
        21.50282,
        -82.316846,
        252.381835,
        60.25757,
        -195.73579,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.071597,
        -18.521663,
        -26.442117,
        -138.093543,
        53.226576,
        118.791225,
        0.0
      ]
    ],
    "turn_angle": 504.0236831247571,
    "filename": "scan-0126_light-12_camera-126.png"
  },
  {
    "id": 127,
    "scan_id": "0127",
    "camera_id": 127,
    "light_id": 12,
    "position": [
      -233.134018,
      -136.381149,
      259.504974
    ],
    "rotation_matrix": [
      [
        0.6691172568311515,
        0.7431568407457514,
        -8.163056450510853e-05
      ],
      [
        -6.289931974973184e-05,
        0.0001664757379825632,
        0.9999999841647521
      ],
      [
        0.7431568425671868,
        -0.6691172411010068,
        0.00015813584887813814
      ]
    ],
    "position_light": [
      8.550139,
      215.354034,
      172.032791
    ],
    "rotation_matrix_light": [
      [
        0.2484593227332237,
        -0.3742299693725254,
        -0.8934315278578359
      ],
      [
        -0.49417082318825745,
        0.7443219011152773,
        -0.4491994045294137
      ],
      [
        0.8331045327306702,
        0.5531155734053946,
        1.8342007002125627e-07
      ]
    ],
    "servo_angle": [
      [
        145.002956,
        18.425005,
        -80.46075,
        252.438386,
        59.102373,
        -194.449156,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.071597,
        -18.521663,
        -26.442117,
        -138.093543,
        53.226576,
        118.791225,
        0.0
      ]
    ],
    "turn_angle": 504.0236831247571,
    "filename": "scan-0127_light-12_camera-127.png"
  },
  {
    "id": 128,
    "scan_id": "0128",
    "camera_id": 128,
    "light_id": 12,
    "position": [
      -198.88736,
      -136.381149,
      297.018921
    ],
    "rotation_matrix": [
      [
        0.7397550970174971,
        0.6728762085908839,
        -6.594688072203425e-05
      ],
      [
        -6.287735958504514e-05,
        0.0001671343487476551,
        0.9999999840562735
      ],
      [
        0.6728762088847186,
        -0.7397550810764782,
        0.0001659471656965672
      ]
    ],
    "position_light": [
      8.550139,
      215.354034,
      172.032791
    ],
    "rotation_matrix_light": [
      [
        0.2484593227332237,
        -0.3742299693725254,
        -0.8934315278578359
      ],
      [
        -0.49417082318825745,
        0.7443219011152773,
        -0.4491994045294137
      ],
      [
        0.8331045327306702,
        0.5531155734053946,
        1.8342007002125627e-07
      ]
    ],
    "servo_angle": [
      [
        142.316643,
        11.027891,
        -76.173249,
        252.583115,
        55.864646,
        -191.358965,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.071597,
        -18.521663,
        -26.442117,
        -138.093543,
        53.226576,
        118.791225,
        0.0
      ]
    ],
    "turn_angle": 504.0236831247571,
    "filename": "scan-0128_light-12_camera-128.png"
  },
  {
    "id": 129,
    "scan_id": "0129",
    "camera_id": 129,
    "light_id": 12,
    "position": [
      -175.626831,
      -136.381149,
      318.682739
    ],
    "rotation_matrix": [
      [
        0.7802536886370398,
        0.6254631710588305,
        -5.4930178991663414e-05
      ],
      [
        -6.320111895946612e-05,
        0.00016666542353993563,
        0.9999999841141272
      ],
      [
        0.625463170277764,
        -0.7802536727703804,
        0.0001695712837641583
      ]
    ],
    "position_light": [
      8.550139,
      215.354034,
      172.032791
    ],
    "rotation_matrix_light": [
      [
        0.2484593227332237,
        -0.3742299693725254,
        -0.8934315278578359
      ],
      [
        -0.49417082318825745,
        0.7443219011152773,
        -0.4491994045294137
      ],
      [
        0.8331045327306702,
        0.5531155734053946,
        1.8342007002125627e-07
      ]
    ],
    "servo_angle": [
      [
        140.303441,
        6.517796,
        -73.682659,
        252.679831,
        53.500335,
        -189.445229,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.071597,
        -18.521663,
        -26.442117,
        -138.093543,
        53.226576,
        118.791225,
        0.0
      ]
    ],
    "turn_angle": 504.0236831247571,
    "filename": "scan-0129_light-12_camera-129.png"
  },
  {
    "id": 130,
    "scan_id": "0130",
    "camera_id": 130,
    "light_id": 13,
    "position": [
      -147.500076,
      -136.381149,
      341.572876
    ],
    "rotation_matrix": [
      [
        0.8227460156755733,
        0.5684091763794388,
        -4.3561655232782215e-05
      ],
      [
        -6.252181556115621e-05,
        0.00016713528411010925,
        0.9999999840784097
      ],
      [
        0.5684091746101503,
        -0.8227459998525943,
        0.00017304786276922668
      ]
    ],
    "position_light": [
      385.575653,
      212.887161,
      159.122772
    ],
    "rotation_matrix_light": [
      [
        0.30297276884837276,
        0.53714140062442,
        0.787201763890038
      ],
      [
        0.38673955396161364,
        0.6856523422793697,
        -0.6166955350319853
      ],
      [
        -0.8709994367035624,
        0.4912840128296979,
        1.6291594823192312e-07
      ]
    ],
    "servo_angle": [
      [
        137.63913,
        1.518224,
        -71.036511,
        252.794021,
        50.43375,
        -187.249368,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.006025,
        -20.293707,
        -22.607482,
        -209.753317,
        51.304532,
        49.63161,
        0.0
      ]
    ],
    "turn_angle": 542.0654099184272,
    "filename": "scan-0130_light-13_camera-130.png"
  },
  {
    "id": 131,
    "scan_id": "0131",
    "camera_id": 131,
    "light_id": 13,
    "position": [
      -134.809174,
      -136.381149,
      350.867035
    ],
    "rotation_matrix": [
      [
        0.8398920654141038,
        0.5427534588059796,
        -3.7531007684665774e-05
      ],
      [
        -6.298921565461857e-05,
        0.0001666228893743571,
        0.9999999841345855
      ],
      [
        0.542753456448496,
        -0.8398920497248192,
        0.00017413285736594952
      ]
    ],
    "position_light": [
      385.575653,
      212.887161,
      159.122772
    ],
    "rotation_matrix_light": [
      [
        0.30297276884837276,
        0.53714140062442,
        0.787201763890038
      ],
      [
        0.38673955396161364,
        0.6856523422793697,
        -0.6166955350319853
      ],
      [
        -0.8709994367035624,
        0.4912840128296979,
        1.6291594823192312e-07
      ]
    ],
    "servo_angle": [
      [
        136.347282,
        -0.590891,
        -69.958319,
        252.842723,
        48.968411,
        -186.28319,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.006025,
        -20.293707,
        -22.607482,
        -209.753317,
        51.304532,
        49.63161,
        0.0
      ]
    ],
    "turn_angle": 542.0654099184272,
    "filename": "scan-0131_light-13_camera-131.png"
  },
  {
    "id": 132,
    "scan_id": "0132",
    "camera_id": 132,
    "light_id": 13,
    "position": [
      -91.468338,
      -136.381149,
      378.420227
    ],
    "rotation_matrix": [
      [
        0.8902416061856441,
        0.4554886192038024,
        -1.9794398838118843e-05
      ],
      [
        -6.320714877827704e-05,
        0.00016699436378087018,
        0.9999999840588694
      ],
      [
        0.4554886152483518,
        -0.8902415907430388,
        0.00017745546755698616
      ]
    ],
    "position_light": [
      385.575653,
      212.887161,
      159.122772
    ],
    "rotation_matrix_light": [
      [
        0.30297276884837276,
        0.53714140062442,
        0.787201763890038
      ],
      [
        0.38673955396161364,
        0.6856523422793697,
        -0.6166955350319853
      ],
      [
        -0.8709994367035624,
        0.4912840128296979,
        1.6291594823192312e-07
      ]
    ],
    "servo_angle": [
      [
        131.470609,
        -7.158764,
        -66.759724,
        252.972669,
        43.538547,
        -182.998136,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.006025,
        -20.293707,
        -22.607482,
        -209.753317,
        51.304532,
        49.63161,
        0.0
      ]
    ],
    "turn_angle": 542.0654099184272,
    "filename": "scan-0132_light-13_camera-132.png"
  },
  {
    "id": 133,
    "scan_id": "0133",
    "camera_id": 133,
    "light_id": 13,
    "position": [
      -62.291744,
      -136.381149,
      393.741974
    ],
    "rotation_matrix": [
      [
        0.9178122149924663,
        0.3970147830079713,
        -9.151853479411054e-06
      ],
      [
        -6.240942047580633e-05,
        0.00016732873590608044,
        0.9999999840530791
      ],
      [
        0.397014778208176,
        -0.9178121997850257,
        0.00017835382026165636
      ]
    ],
    "position_light": [
      385.575653,
      212.887161,
      159.122772
    ],
    "rotation_matrix_light": [
      [
        0.30297276884837276,
        0.53714140062442,
        0.787201763890038
      ],
      [
        0.38673955396161364,
        0.6856523422793697,
        -0.6166955350319853
      ],
      [
        -0.8709994367035624,
        0.4912840128296979,
        1.6291594823192312e-07
      ]
    ],
    "servo_angle": [
      [
        127.746441,
        -11.043475,
        -64.999082,
        252.990546,
        39.480115,
        -180.707279,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.006025,
        -20.293707,
        -22.607482,
        -209.753317,
        51.304532,
        49.63161,
        0.0
      ]
    ],
    "turn_angle": 542.0654099184272,
    "filename": "scan-0133_light-13_camera-133.png"
  },
  {
    "id": 134,
    "scan_id": "0134",
    "camera_id": 134,
    "light_id": 13,
    "position": [
      -44.117004,
      -136.381149,
      402.112488
    ],
    "rotation_matrix": [
      [
        0.932686331218687,
        0.3606885187440906,
        -2.004816485740024e-06
      ],
      [
        -6.249295953966727e-05,
        0.00016715571048336875,
        0.9999999840767991
      ],
      [
        0.36068851333589136,
        -0.9326863162420483,
        0.00017844433936126114
      ]
    ],
    "position_light": [
      385.575653,
      212.887161,
      159.122772
    ],
    "rotation_matrix_light": [
      [
        0.30297276884837276,
        0.53714140062442,
        0.787201763890038
      ],
      [
        0.38673955396161364,
        0.6856523422793697,
        -0.6166955350319853
      ],
      [
        -0.8709994367035624,
        0.4912840128296979,
        1.6291594823192312e-07
      ]
    ],
    "servo_angle": [
      [
        125.234422,
        -13.243289,
        -64.056739,
        252.946944,
        36.777416,
        -179.202176,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.006025,
        -20.293707,
        -22.607482,
        -209.753317,
        51.304532,
        49.63161,
        0.0
      ]
    ],
    "turn_angle": 542.0654099184272,
    "filename": "scan-0134_light-13_camera-134.png"
  },
  {
    "id": 135,
    "scan_id": "0135",
    "camera_id": 135,
    "light_id": 13,
    "position": [
      -3.661678,
      -136.381149,
      417.776001
    ],
    "rotation_matrix": [
      [
        0.9599762230990446,
        0.2800815076243022,
        1.3091620110650126e-05
      ],
      [
        -6.239467357346817e-05,
        0.00016711486443077295,
        0.9999999840897629
      ],
      [
        0.2800815009803348,
        -0.959976208642443,
        0.00017790189062216744
      ]
    ],
    "position_light": [
      385.575653,
      212.887161,
      159.122772
    ],
    "rotation_matrix_light": [
      [
        0.30297276884837276,
        0.53714140062442,
        0.787201763890038
      ],
      [
        0.38673955396161364,
        0.6856523422793697,
        -0.6166955350319853
      ],
      [
        -0.8709994367035624,
        0.4912840128296979,
        1.6291594823192312e-07
      ]
    ],
    "servo_angle": [
      [
        119.099476,
        -17.504949,
        -62.394244,
        252.572401,
        30.272225,
        -175.471877,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.006025,
        -20.293707,
        -22.607482,
        -209.753317,
        51.304532,
        49.63161,
        0.0
      ]
    ],
    "turn_angle": 542.0654099184272,
    "filename": "scan-0135_light-13_camera-135.png"
  },
  {
    "id": 136,
    "scan_id": "0136",
    "camera_id": 136,
    "light_id": 13,
    "position": [
      16.863901,
      -136.381149,
      424.254395
    ],
    "rotation_matrix": [
      [
        0.9709437235204819,
        0.23930792987247348,
        2.1361958919108304e-05
      ],
      [
        -6.310751790464253e-05,
        0.00016678047341878166,
        0.9999999841008572
      ],
      [
        0.23930792250492494,
        -0.9709437094314092,
        0.0001770365833408949
      ]
    ],
    "position_light": [
      385.575653,
      212.887161,
      159.122772
    ],
    "rotation_matrix_light": [
      [
        0.30297276884837276,
        0.53714140062442,
        0.787201763890038
      ],
      [
        0.38673955396161364,
        0.6856523422793697,
        -0.6166955350319853
      ],
      [
        -0.8709994367035624,
        0.4912840128296979,
        1.6291594823192312e-07
      ]
    ],
    "servo_angle": [
      [
        115.707624,
        -19.311542,
        -61.795847,
        252.138386,
        26.72321,
        -173.267938,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.006025,
        -20.293707,
        -22.607482,
        -209.753317,
        51.304532,
        49.63161,
        0.0
      ]
    ],
    "turn_angle": 542.0654099184272,
    "filename": "scan-0136_light-13_camera-136.png"
  },
  {
    "id": 137,
    "scan_id": "0137",
    "camera_id": 137,
    "light_id": 13,
    "position": [
      70.775146,
      -136.381149,
      436.893158
    ],
    "rotation_matrix": [
      [
        0.9911719753221915,
        0.13258247906442497,
        3.976224874858991e-05
      ],
      [
        -6.245016414918592e-05,
        0.00016696477994931902,
        0.9999999841113695
      ],
      [
        0.13258247031897585,
        -0.9911719620569851,
        0.000173770608332402
      ]
    ],
    "position_light": [
      385.575653,
      212.887161,
      159.122772
    ],
    "rotation_matrix_light": [
      [
        0.30297276884837276,
        0.53714140062442,
        0.787201763890038
      ],
      [
        0.38673955396161364,
        0.6856523422793697,
        -0.6166955350319853
      ],
      [
        -0.8709994367035624,
        0.4912840128296979,
        1.6291594823192312e-07
      ]
    ],
    "servo_angle": [
      [
        106.079813,
        -22.790084,
        -61.180605,
        249.341893,
        16.779871,
        -165.575635,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.006025,
        -20.293707,
        -22.607482,
        -209.753317,
        51.304532,
        49.63161,
        0.0
      ]
    ],
    "turn_angle": 542.0654099184272,
    "filename": "scan-0137_light-13_camera-137.png"
  },
  {
    "id": 138,
    "scan_id": "0138",
    "camera_id": 138,
    "light_id": 13,
    "position": [
      106.725777,
      -136.381149,
      441.9711
    ],
    "rotation_matrix": [
      [
        0.9980949979955691,
        0.06169580396291898,
        5.2436567902509196e-05
      ],
      [
        -6.288635878859417e-05,
        0.0001674342892337699,
        0.999999984005532
      ],
      [
        0.06169579419644795,
        -0.9980949853291157,
        0.00017099515104096463
      ]
    ],
    "position_light": [
      385.575653,
      212.887161,
      159.122772
    ],
    "rotation_matrix_light": [
      [
        0.30297276884837276,
        0.53714140062442,
        0.787201763890038
      ],
      [
        0.38673955396161364,
        0.6856523422793697,
        -0.6166955350319853
      ],
      [
        -0.8709994367035624,
        0.4912840128296979,
        1.6291594823192312e-07
      ]
    ],
    "servo_angle": [
      [
        99.453498,
        -23.977539,
        -61.834121,
        244.669766,
        9.980123,
        -157.429551,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.006025,
        -20.293707,
        -22.607482,
        -209.753317,
        51.304532,
        49.63161,
        0.0
      ]
    ],
    "turn_angle": 542.0654099184272,
    "filename": "scan-0138_light-13_camera-138.png"
  },
  {
    "id": 139,
    "scan_id": "0139",
    "camera_id": 139,
    "light_id": 13,
    "position": [
      124.278847,
      -136.381149,
      443.50943
    ],
    "rotation_matrix": [
      [
        0.9996309979766593,
        0.02716366082896928,
        5.8434211554393364e-05
      ],
      [
        -6.29831365964225e-05,
        0.0001666080685000515,
        0.999999984137438
      ],
      [
        0.0271636506624729,
        -0.9996309858003204,
        0.00016825744234610918
      ]
    ],
    "position_light": [
      385.575653,
      212.887161,
      159.122772
    ],
    "rotation_matrix_light": [
      [
        0.30297276884837276,
        0.53714140062442,
        0.787201763890038
      ],
      [
        0.38673955396161364,
        0.6856523422793697,
        -0.6166955350319853
      ],
      [
        -0.8709994367035624,
        0.4912840128296979,
        1.6291594823192312e-07
      ]
    ],
    "servo_angle": [
      [
        96.384736,
        -24.198357,
        -62.610192,
        240.749761,
        6.791899,
        -151.745236,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.006025,
        -20.293707,
        -22.607482,
        -209.753317,
        51.304532,
        49.63161,
        0.0
      ]
    ],
    "turn_angle": 542.0654099184272,
    "filename": "scan-0139_light-13_camera-139.png"
  },
  {
    "id": 140,
    "scan_id": "0140",
    "camera_id": 140,
    "light_id": 14,
    "position": [
      111.901001,
      -136.381149,
      442.48822
    ],
    "rotation_matrix": [
      [
        0.9986725184089132,
        0.05150920338717664,
        5.423299509435542e-05
      ],
      [
        -6.29227462627252e-05,
        0.0001670812724612336,
        0.9999999840622883
      ],
      [
        0.05150919350491997,
        -0.9986725059048472,
        0.00017010057568278558
      ]
    ],
    "position_light": [
      392.99585,
      215.601105,
      118.262444
    ],
    "rotation_matrix_light": [
      [
        0.25898867212938026,
        0.5684270712822337,
        0.7809068653444933
      ],
      [
        0.32377607400100283,
        0.7106226750158473,
        -0.6246474747069889
      ],
      [
        -0.9099966602208809,
        0.41461557904500357,
        1.37491732665751e-07
      ]
    ],
    "servo_angle": [
      [
        98.527312,
        -24.067665,
        -62.02652,
        243.659756,
        9.023741,
        -155.904394,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.530699,
        -12.787272,
        -21.252953,
        -205.46977,
        58.813487,
        38.89587,
        0.0
      ]
    ],
    "turn_angle": 553.5166524728415,
    "filename": "scan-0140_light-14_camera-140.png"
  },
  {
    "id": 141,
    "scan_id": "0141",
    "camera_id": 141,
    "light_id": 14,
    "position": [
      167.148743,
      -136.381149,
      444.712402
    ],
    "rotation_matrix": [
      [
        0.9983766212454381,
        -0.056957149875493336,
        7.230907920697388e-05
      ],
      [
        -6.290410285180598e-05,
        0.00016691657517509118,
        0.9999999840909649
      ],
      [
        -0.05695716103894392,
        -0.9983766099107675,
        0.00016306276793920382
      ]
    ],
    "position_light": [
      392.99585,
      215.601105,
      118.262444
    ],
    "rotation_matrix_light": [
      [
        0.25898867212938026,
        0.5684270712822337,
        0.7809068653444933
      ],
      [
        0.32377607400100283,
        0.7106226750158473,
        -0.6246474747069889
      ],
      [
        -0.9099966602208809,
        0.41461557904500357,
        1.37491732665751e-07
      ]
    ],
    "servo_angle": [
      [
        90.741618,
        -23.800151,
        -66.087645,
        222.67363,
        0.318163,
        -129.123717,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.530699,
        -12.787272,
        -21.252953,
        -205.46977,
        58.813487,
        38.89587,
        0.0
      ]
    ],
    "turn_angle": 553.5166524728415,
    "filename": "scan-0141_light-14_camera-141.png"
  },
  {
    "id": 142,
    "scan_id": "0142",
    "camera_id": 142,
    "light_id": 14,
    "position": [
      194.896957,
      -136.381149,
      443.566681
    ],
    "rotation_matrix": [
      [
        0.9937930918526238,
        -0.1112442540116899,
        8.084172707795156e-05
      ],
      [
        -6.261531122926656e-05,
        0.0001673350431371512,
        0.9999999840391528
      ],
      [
        -0.11124426576379126,
        -0.9937930810527741,
        0.00015933081630714607
      ]
    ],
    "position_light": [
      392.99585,
      215.601105,
      118.262444
    ],
    "rotation_matrix_light": [
      [
        0.25898867212938026,
        0.5684270712822337,
        0.7809068653444933
      ],
      [
        0.32377607400100283,
        0.7106226750158473,
        -0.6246474747069889
      ],
      [
        -0.9099966602208809,
        0.41461557904500357,
        1.37491732665751e-07
      ]
    ],
    "servo_angle": [
      [
        89.809244,
        -23.242262,
        -68.584824,
        202.45584,
        -1.938374,
        -105.818372,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.530699,
        -12.787272,
        -21.252953,
        -205.46977,
        58.813487,
        38.89587,
        0.0
      ]
    ],
    "turn_angle": 553.5166524728415,
    "filename": "scan-0142_light-14_camera-142.png"
  },
  {
    "id": 143,
    "scan_id": "0143",
    "camera_id": 143,
    "light_id": 14,
    "position": [
      239.953369,
      -136.381149,
      438.453369
    ],
    "rotation_matrix": [
      [
        0.9799752822110556,
        -0.19911915347762743,
        9.472969311724588e-05
      ],
      [
        -6.271961731411924e-05,
        0.00016706588166104375,
        0.9999999840776201
      ],
      [
        -0.19911916613327635,
        -0.979975272548927,
        0.00015123175742259853
      ]
    ],
    "position_light": [
      392.99585,
      215.601105,
      118.262444
    ],
    "rotation_matrix_light": [
      [
        0.25898867212938026,
        0.5684270712822337,
        0.7809068653444933
      ],
      [
        0.32377607400100283,
        0.7106226750158473,
        -0.6246474747069889
      ],
      [
        -0.9099966602208809,
        0.41461557904500357,
        1.37491732665751e-07
      ]
    ],
    "servo_angle": [
      [
        90.807794,
        -23.461648,
        -67.637037,
        164.420782,
        -1.278555,
        -62.685479,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.530699,
        -12.787272,
        -21.252953,
        -205.46977,
        58.813487,
        38.89587,
        0.0
      ]
    ],
    "turn_angle": 553.5166524728415,
    "filename": "scan-0143_light-14_camera-143.png"
  },
  {
    "id": 144,
    "scan_id": "0144",
    "camera_id": 144,
    "light_id": 14,
    "position": [
      270.078125,
      -136.381149,
      432.735504
    ],
    "rotation_matrix": [
      [
        0.9662306570254455,
        -0.2576786888043275,
        0.00010373166493857222
      ],
      [
        -6.280118714513394e-05,
        0.00016707330811399634,
        0.9999999840712601
      ],
      [
        -0.25767870203062315,
        -0.9662306481490806,
        0.00014524882471150802
      ]
    ],
    "position_light": [
      392.99585,
      215.601105,
      118.262444
    ],
    "rotation_matrix_light": [
      [
        0.25898867212938026,
        0.5684270712822337,
        0.7809068653444933
      ],
      [
        0.32377607400100283,
        0.7106226750158473,
        -0.6246474747069889
      ],
      [
        -0.9099966602208809,
        0.41461557904500357,
        1.37491732665751e-07
      ]
    ],
    "servo_angle": [
      [
        89.266252,
        -24.210504,
        -64.046082,
        145.145278,
        1.915455,
        -39.911839,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.530699,
        -12.787272,
        -21.252953,
        -205.46977,
        58.813487,
        38.89587,
        0.0
      ]
    ],
    "turn_angle": 553.5166524728415,
    "filename": "scan-0144_light-14_camera-144.png"
  },
  {
    "id": 145,
    "scan_id": "0145",
    "camera_id": 145,
    "light_id": 14,
    "position": [
      307.244995,
      -136.381149,
      423.033539
    ],
    "rotation_matrix": [
      [
        0.9440843630419717,
        -0.32970396153666726,
        0.00011492024370152176
      ],
      [
        -6.325666403256269e-05,
        0.00016742478383424686,
        0.999999983983768
      ],
      [
        -0.32970397549654906,
        -0.9440843551907688,
        0.0001372071476785086
      ]
    ],
    "position_light": [
      392.99585,
      215.601105,
      118.262444
    ],
    "rotation_matrix_light": [
      [
        0.25898867212938026,
        0.5684270712822337,
        0.7809068653444933
      ],
      [
        0.32377607400100283,
        0.7106226750158473,
        -0.6246474747069889
      ],
      [
        -0.9099966602208809,
        0.41461557904500357,
        1.37491732665751e-07
      ]
    ],
    "servo_angle": [
      [
        84.284383,
        -24.636326,
        -59.959002,
        131.265433,
        7.956321,
        -21.869169,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.530699,
        -12.787272,
        -21.252953,
        -205.46977,
        58.813487,
        38.89587,
        0.0
      ]
    ],
    "turn_angle": 553.5166524728415,
    "filename": "scan-0145_light-14_camera-145.png"
  },
  {
    "id": 146,
    "scan_id": "0146",
    "camera_id": 146,
    "light_id": 14,
    "position": [
      340.62619,
      -136.381149,
      411.688599
    ],
    "rotation_matrix": [
      [
        0.9190369739029711,
        -0.3941713147781505,
        0.00012330991020659265
      ],
      [
        -6.249270166622245e-05,
        0.00016712734372975602,
        0.9999999840815565
      ],
      [
        -0.39417132911201447,
        -0.9190369669793024,
        0.00012896337785811562
      ]
    ],
    "position_light": [
      392.99585,
      215.601105,
      118.262444
    ],
    "rotation_matrix_light": [
      [
        0.25898867212938026,
        0.5684270712822337,
        0.7809068653444933
      ],
      [
        0.32377607400100283,
        0.7106226750158473,
        -0.6246474747069889
      ],
      [
        -0.9099966602208809,
        0.41461557904500357,
        1.37491732665751e-07
      ]
    ],
    "servo_angle": [
      [
        78.450642,
        -24.110981,
        -57.465375,
        124.970403,
        14.374365,
        -12.08494,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.530699,
        -12.787272,
        -21.252953,
        -205.46977,
        58.813487,
        38.89587,
        0.0
      ]
    ],
    "turn_angle": 553.5166524728415,
    "filename": "scan-0146_light-14_camera-146.png"
  },
  {
    "id": 147,
    "scan_id": "0147",
    "camera_id": 147,
    "light_id": 14,
    "position": [
      344.73407,
      -136.381149,
      410.111725
    ],
    "rotation_matrix": [
      [
        0.9156002912095031,
        -0.40208965555968385,
        0.00012501587092808575
      ],
      [
        -6.316988768900744e-05,
        0.00016707095156842655,
        0.9999999840484312
      ],
      [
        -0.4020896700322435,
        -0.9156002845014805,
        0.00012757025352605478
      ]
    ],
    "position_light": [
      392.99585,
      215.601105,
      118.262444
    ],
    "rotation_matrix_light": [
      [
        0.25898867212938026,
        0.5684270712822337,
        0.7809068653444933
      ],
      [
        0.32377607400100283,
        0.7106226750158473,
        -0.6246474747069889
      ],
      [
        -0.9099966602208809,
        0.41461557904500357,
        1.37491732665751e-07
      ]
    ],
    "servo_angle": [
      [
        77.699666,
        -23.981607,
        -57.228342,
        124.446949,
        15.193408,
        -11.148613,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.530699,
        -12.787272,
        -21.252953,
        -205.46977,
        58.813487,
        38.89587,
        0.0
      ]
    ],
    "turn_angle": 553.5166524728415,
    "filename": "scan-0147_light-14_camera-147.png"
  },
  {
    "id": 148,
    "scan_id": "0148",
    "camera_id": 148,
    "light_id": 14,
    "position": [
      378.445312,
      -136.381149,
      395.586029
    ],
    "rotation_matrix": [
      [
        0.884291426356967,
        -0.46693538674080814,
        0.00013371900786326996
      ],
      [
        -6.278468604556386e-05,
        0.00016747294886709785,
        0.9999999840054474
      ],
      [
        -0.466935401666702,
        -0.884291420608627,
        0.00011877850116981392
      ]
    ],
    "position_light": [
      392.99585,
      215.601105,
      118.262444
    ],
    "rotation_matrix_light": [
      [
        0.25898867212938026,
        0.5684270712822337,
        0.7809068653444933
      ],
      [
        0.32377607400100283,
        0.7106226750158473,
        -0.6246474747069889
      ],
      [
        -0.9099966602208809,
        0.41461557904500357,
        1.37491732665751e-07
      ]
    ],
    "servo_angle": [
      [
        71.507081,
        -22.379789,
        -55.759794,
        121.468428,
        21.980781,
        -4.916322,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.530699,
        -12.787272,
        -21.252953,
        -205.46977,
        58.813487,
        38.89587,
        0.0
      ]
    ],
    "turn_angle": 553.5166524728415,
    "filename": "scan-0148_light-14_camera-148.png"
  },
  {
    "id": 149,
    "scan_id": "0149",
    "camera_id": 149,
    "light_id": 14,
    "position": [
      404.46286,
      -136.381149,
      382.320618
    ],
    "rotation_matrix": [
      [
        0.8561004006722157,
        -0.5168095243047477,
        0.0001398455295626433
      ],
      [
        -6.250142703018158e-05,
        0.0001670596739313246,
        0.9999999840923184
      ],
      [
        -0.516809539446055,
        -0.8561003957941882,
        0.00011071852101690594
      ]
    ],
    "position_light": [
      392.99585,
      215.601105,
      118.262444
    ],
    "rotation_matrix_light": [
      [
        0.25898867212938026,
        0.5684270712822337,
        0.7809068653444933
      ],
      [
        0.32377607400100283,
        0.7106226750158473,
        -0.6246474747069889
      ],
      [
        -0.9099966602208809,
        0.41461557904500357,
        1.37491732665751e-07
      ]
    ],
    "servo_angle": [
      [
        66.848533,
        -20.48983,
        -55.127879,
        120.259716,
        27.174758,
        -1.358769,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.530699,
        -12.787272,
        -21.252953,
        -205.46977,
        58.813487,
        38.89587,
        0.0
      ]
    ],
    "turn_angle": 553.5166524728415,
    "filename": "scan-0149_light-14_camera-149.png"
  },
  {
    "id": 150,
    "scan_id": "0150",
    "camera_id": 150,
    "light_id": 15,
    "position": [
      445.512665,
      -136.381149,
      357.303589
    ],
    "rotation_matrix": [
      [
        0.8036112333165071,
        -0.5951545709347326,
        0.00014960954772741397
      ],
      [
        -6.268068328069143e-05,
        0.00016674431988566996,
        0.9999999841337317
      ],
      [
        -0.5951545864383927,
        -0.8036112299438245,
        9.66929133880412e-05
      ]
    ],
    "position_light": [
      248.961609,
      197.620499,
      336.461365
    ],
    "rotation_matrix_light": [
      [
        0.27269048249483546,
        0.2216999229291437,
        0.9362099363550599
      ],
      [
        0.7264240437930853,
        0.5905905125629036,
        -0.35144125408094623
      ],
      [
        -0.6308312051222856,
        0.775920092950233,
        2.573048464293848e-07
      ]
    ],
    "servo_angle": [
      [
        59.969029,
        -16.362586,
        -54.889529,
        119.396727,
        35.073783,
        2.936752,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -97.28852,
        -39.564512,
        -31.78237,
        -264.950409,
        77.667007,
        121.742645,
        0.0
      ]
    ],
    "turn_angle": 597.4945739587196,
    "filename": "scan-0150_light-15_camera-150.png"
  },
  {
    "id": 151,
    "scan_id": "0151",
    "camera_id": 151,
    "light_id": 15,
    "position": [
      477.106964,
      -136.381149,
      334.125275
    ],
    "rotation_matrix": [
      [
        0.7555218498802954,
        -0.6551234309889146,
        0.00015659747577168037
      ],
      [
        -6.271425150028431e-05,
        0.00016670978446831075,
        0.9999999841373851
      ],
      [
        -0.6551234467032753,
        -0.7555218477166367,
        8.486730913992435e-05
      ]
    ],
    "position_light": [
      248.961609,
      197.620499,
      336.461365
    ],
    "rotation_matrix_light": [
      [
        0.27269048249483546,
        0.2216999229291437,
        0.9362099363550599
      ],
      [
        0.7264240437930853,
        0.5905905125629036,
        -0.35144125408094623
      ],
      [
        -0.6308312051222856,
        0.775920092950233,
        2.573048464293848e-07
      ]
    ],
    "servo_angle": [
      [
        55.159506,
        -12.227721,
        -55.302287,
        119.208739,
        40.823071,
        5.569952,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -97.28852,
        -39.564512,
        -31.78237,
        -264.950409,
        77.667007,
        121.742645,
        0.0
      ]
    ],
    "turn_angle": 597.4945739587196,
    "filename": "scan-0151_light-15_camera-151.png"
  },
  {
    "id": 152,
    "scan_id": "0152",
    "camera_id": 152,
    "light_id": 15,
    "position": [
      498.82196,
      -136.381149,
      315.864166
    ],
    "rotation_matrix": [
      [
        0.7179030151157646,
        -0.6961431136182479,
        0.0001620172369591888
      ],
      [
        -6.317510717746e-05,
        0.00016758570494423974,
        0.9999999839619684
      ],
      [
        -0.6961431296052556,
        -0.7179030138374698,
        7.633136705609278e-05
      ]
    ],
    "position_light": [
      248.961609,
      197.620499,
      336.461365
    ],
    "rotation_matrix_light": [
      [
        0.27269048249483546,
        0.2216999229291437,
        0.9362099363550599
      ],
      [
        0.7264240437930853,
        0.5905905125629036,
        -0.35144125408094623
      ],
      [
        -0.6308312051222856,
        0.775920092950233,
        2.573048464293848e-07
      ]
    ],
    "servo_angle": [
      [
        52.112631,
        -8.887148,
        -55.892377,
        119.207765,
        44.595941,
        7.17939,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -97.28852,
        -39.564512,
        -31.78237,
        -264.950409,
        77.667007,
        121.742645,
        0.0
      ]
    ],
    "turn_angle": 597.4945739587196,
    "filename": "scan-0152_light-15_camera-152.png"
  },
  {
    "id": 153,
    "scan_id": "0153",
    "camera_id": 153,
    "light_id": 15,
    "position": [
      514.520813,
      -136.381149,
      301.296082
    ],
    "rotation_matrix": [
      [
        0.6880281619629438,
        -0.7256839680704045,
        0.00016380319041420233
      ],
      [
        -6.261157238574011e-05,
        0.0001663598316513082,
        0.9999999842020985
      ],
      [
        -0.7256839838563919,
        -0.6880281613495179,
        6.902403489944531e-05
      ]
    ],
    "position_light": [
      248.961609,
      197.620499,
      336.461365
    ],
    "rotation_matrix_light": [
      [
        0.27269048249483546,
        0.2216999229291437,
        0.9362099363550599
      ],
      [
        0.7264240437930853,
        0.5905905125629036,
        -0.35144125408094623
      ],
      [
        -0.6308312051222856,
        0.775920092950233,
        2.573048464293848e-07
      ]
    ],
    "servo_angle": [
      [
        50.039441,
        -6.205419,
        -56.484242,
        119.246669,
        47.235557,
        8.281818,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -97.28852,
        -39.564512,
        -31.78237,
        -264.950409,
        77.667007,
        121.742645,
        0.0
      ]
    ],
    "turn_angle": 597.4945739587196,
    "filename": "scan-0153_light-15_camera-153.png"
  },
  {
    "id": 154,
    "scan_id": "0154",
    "camera_id": 154,
    "light_id": 15,
    "position": [
      554.816223,
      -136.381149,
      257.456146
    ],
    "rotation_matrix": [
      [
        0.5987113951968982,
        -0.8009648155616957,
        0.000171737013298201
      ],
      [
        -6.2864102685245e-05,
        0.00016742253007884234,
        0.9999999840089001
      ],
      [
        -0.8009648315060329,
        -0.5987113964189378,
        4.9885842158148286e-05
      ]
    ],
    "position_light": [
      248.961609,
      197.620499,
      336.461365
    ],
    "rotation_matrix_light": [
      [
        0.27269048249483546,
        0.2216999229291437,
        0.9362099363550599
      ],
      [
        0.7264240437930853,
        0.5905905125629036,
        -0.35144125408094623
      ],
      [
        -0.6308312051222856,
        0.775920092950233,
        2.573048464293848e-07
      ]
    ],
    "servo_angle": [
      [
        45.19153,
        1.823438,
        -58.725023,
        119.432938,
        53.709637,
        11.039292,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -97.28852,
        -39.564512,
        -31.78237,
        -264.950409,
        77.667007,
        121.742645,
        0.0
      ]
    ],
    "turn_angle": 597.4945739587196,
    "filename": "scan-0154_light-15_camera-154.png"
  },
  {
    "id": 155,
    "scan_id": "0155",
    "camera_id": 155,
    "light_id": 15,
    "position": [
      560.388489,
      -136.381149,
      250.510529
    ],
    "rotation_matrix": [
      [
        0.5846295079589247,
        -0.8113003813117435,
        0.0001723575511521358
      ],
      [
        -6.314055660061602e-05,
        0.00016694644670334213,
        0.999999984071077
      ],
      [
        -0.8113003971630828,
        -0.5846295095291579,
        4.6375861345371305e-05
      ]
    ],
    "position_light": [
      248.961609,
      197.620499,
      336.461365
    ],
    "rotation_matrix_light": [
      [
        0.27269048249483546,
        0.2216999229291437,
        0.9362099363550599
      ],
      [
        0.7264240437930853,
        0.5905905125629036,
        -0.35144125408094623
      ],
      [
        -0.6308312051222856,
        0.775920092950233,
        2.573048464293848e-07
      ]
    ],
    "servo_angle": [
      [
        44.571762,
        3.081252,
        -59.128901,
        119.464852,
        54.576006,
        11.427987,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -97.28852,
        -39.564512,
        -31.78237,
        -264.950409,
        77.667007,
        121.742645,
        0.0
      ]
    ],
    "turn_angle": 597.4945739587196,
    "filename": "scan-0155_light-15_camera-155.png"
  },
  {
    "id": 156,
    "scan_id": "0156",
    "camera_id": 156,
    "light_id": 15,
    "position": [
      580.310242,
      -136.381149,
      223.439133
    ],
    "rotation_matrix": [
      [
        0.5298937873230594,
        -0.8480639972587956,
        0.00017524228273962938
      ],
      [
        -6.305553200830483e-05,
        0.00016723920097005962,
        0.9999999840275244
      ],
      [
        -0.8480640130204935,
        -0.5298937899093392,
        3.51438870666021e-05
      ]
    ],
    "position_light": [
      248.961609,
      197.620499,
      336.461365
    ],
    "rotation_matrix_light": [
      [
        0.27269048249483546,
        0.2216999229291437,
        0.9362099363550599
      ],
      [
        0.7264240437930853,
        0.5905905125629036,
        -0.35144125408094623
      ],
      [
        -0.6308312051222856,
        0.775920092950233,
        2.573048464293848e-07
      ]
    ],
    "servo_angle": [
      [
        42.448953,
        7.933632,
        -60.801193,
        119.587694,
        57.632163,
        12.871898,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -97.28852,
        -39.564512,
        -31.78237,
        -264.950409,
        77.667007,
        121.742645,
        0.0
      ]
    ],
    "turn_angle": 597.4945739587196,
    "filename": "scan-0156_light-15_camera-156.png"
  },
  {
    "id": 157,
    "scan_id": "0157",
    "camera_id": 157,
    "light_id": 15,
    "position": [
      596.702576,
      -136.381149,
      197.961365
    ],
    "rotation_matrix": [
      [
        0.4785796038658735,
        -0.8780441513735749,
        0.00017607453682638718
      ],
      [
        -6.269604075026525e-05,
        0.00016635779359069902,
        0.9999999841971455
      ],
      [
        -0.8780441667893424,
        -0.4785796073421259,
        2.456555506163971e-05
      ]
    ],
    "position_light": [
      248.961609,
      197.620499,
      336.461365
    ],
    "rotation_matrix_light": [
      [
        0.27269048249483546,
        0.2216999229291437,
        0.9362099363550599
      ],
      [
        0.7264240437930853,
        0.5905905125629036,
        -0.35144125408094623
      ],
      [
        -0.6308312051222856,
        0.775920092950233,
        2.573048464293848e-07
      ]
    ],
    "servo_angle": [
      [
        40.804622,
        12.422241,
        -62.496231,
        119.70028,
        60.117138,
        14.164147,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -97.28852,
        -39.564512,
        -31.78237,
        -264.950409,
        77.667007,
        121.742645,
        0.0
      ]
    ],
    "turn_angle": 597.4945739587196,
    "filename": "scan-0157_light-15_camera-157.png"
  },
  {
    "id": 158,
    "scan_id": "0158",
    "camera_id": 158,
    "light_id": 15,
    "position": [
      622.13739,
      -136.381149,
      150.143799
    ],
    "rotation_matrix": [
      [
        0.3827196914625784,
        -0.9238644954882229,
        0.00017816588015412416
      ],
      [
        -6.276931745202718e-05,
        0.00016684570547687017,
        0.9999999841112619
      ],
      [
        -0.9238645105353935,
        -0.38271969656499594,
        5.864793122034584e-06
      ]
    ],
    "position_light": [
      248.961609,
      197.620499,
      336.461365
    ],
    "rotation_matrix_light": [
      [
        0.27269048249483546,
        0.2216999229291437,
        0.9362099363550599
      ],
      [
        0.7264240437930853,
        0.5905905125629036,
        -0.35144125408094623
      ],
      [
        -0.6308312051222856,
        0.775920092950233,
        2.573048464293848e-07
      ]
    ],
    "servo_angle": [
      [
        38.416362,
        20.641492,
        -65.930425,
        119.911128,
        63.999328,
        16.52055,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -97.28852,
        -39.564512,
        -31.78237,
        -264.950409,
        77.667007,
        121.742645,
        0.0
      ]
    ],
    "turn_angle": 597.4945739587196,
    "filename": "scan-0158_light-15_camera-158.png"
  },
  {
    "id": 159,
    "scan_id": "0159",
    "camera_id": 159,
    "light_id": 15,
    "position": [
      633.027222,
      -136.381149,
      125.008118
    ],
    "rotation_matrix": [
      [
        0.33253881125269935,
        -0.9430895542472192,
        0.00017798995163559317
      ],
      [
        -6.285040295350708e-05,
        0.0001665692826545162,
        0.9999999841522502
      ],
      [
        -0.9430895689490306,
        -0.33253881716944766,
        -3.882807260435772e-06
      ]
    ],
    "position_light": [
      248.961609,
      197.620499,
      336.461365
    ],
    "rotation_matrix_light": [
      [
        0.27269048249483546,
        0.2216999229291437,
        0.9362099363550599
      ],
      [
        0.7264240437930853,
        0.5905905125629036,
        -0.35144125408094623
      ],
      [
        -0.6308312051222856,
        0.775920092950233,
        2.573048464293848e-07
      ]
    ],
    "servo_angle": [
      [
        37.446,
        24.861727,
        -67.847141,
        120.028413,
        65.719176,
        17.756707,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -97.28852,
        -39.564512,
        -31.78237,
        -264.950409,
        77.667007,
        121.742645,
        0.0
      ]
    ],
    "turn_angle": 597.4945739587196,
    "filename": "scan-0159_light-15_camera-159.png"
  },
  {
    "id": 160,
    "scan_id": "0160",
    "camera_id": 160,
    "light_id": 16,
    "position": [
      632.304749,
      -136.381149,
      126.796852
    ],
    "rotation_matrix": [
      [
        0.332538811252699,
        -0.9430895540696813,
        0.0001789281726534142
      ],
      [
        -6.285040295350708e-05,
        0.00016756412031199153,
        0.9999999839860458
      ],
      [
        -0.9430895689490305,
        -0.3325388171731456,
        -3.5519851173670958e-06
      ]
    ],
    "position_light": [
      390.468658,
      206.654297,
      230.9319
    ],
    "rotation_matrix_light": [
      [
        0.37761191720815546,
        0.5063412985550683,
        0.7752597818537658
      ],
      [
        0.46346970836111717,
        0.6214688719410237,
        -0.6316425180749095
      ],
      [
        -0.8016265149145468,
        0.5978251672403216,
        1.982463328498163e-07
      ]
    ],
    "servo_angle": [
      [
        37.509656,
        24.563274,
        -67.708199,
        120.019933,
        65.602808,
        17.885164,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.411271,
        -27.288719,
        -29.598369,
        -212.630024,
        37.877209,
        63.968217,
        0.0
      ]
    ],
    "turn_angle": 617.0521106682787,
    "filename": "scan-0160_light-16_camera-160.png"
  },
  {
    "id": 161,
    "scan_id": "0161",
    "camera_id": 161,
    "light_id": 16,
    "position": [
      621.345215,
      -136.381149,
      151.837204
    ],
    "rotation_matrix": [
      [
        0.38610491181888884,
        -0.9224548579926524,
        0.00017898347349987187
      ],
      [
        -6.293367214926793e-05,
        0.00016768784873649745,
        0.9999999839600691
      ],
      [
        -0.9224548732098937,
        -0.38610491688987997,
        6.691630444033425e-06
      ]
    ],
    "position_light": [
      390.468658,
      206.654297,
      230.9319
    ],
    "rotation_matrix_light": [
      [
        0.37761191720815546,
        0.5063412985550683,
        0.7752597818537658
      ],
      [
        0.46346970836111717,
        0.6214688719410237,
        -0.6316425180749095
      ],
      [
        -0.8016265149145468,
        0.5978251672403216,
        1.982463328498163e-07
      ]
    ],
    "servo_angle": [
      [
        38.488039,
        20.354784,
        -65.803859,
        119.903508,
        63.876314,
        16.437472,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.411271,
        -27.288719,
        -29.598369,
        -212.630024,
        37.877209,
        63.968217,
        0.0
      ]
    ],
    "turn_angle": 617.0521106682787,
    "filename": "scan-0161_light-16_camera-161.png"
  },
  {
    "id": 162,
    "scan_id": "0162",
    "camera_id": 162,
    "light_id": 16,
    "position": [
      610.494995,
      -136.381149,
      173.562592
    ],
    "rotation_matrix": [
      [
        0.4295986901412061,
        -0.9030198966699655,
        0.00017789638842075073
      ],
      [
        -6.272003102325563e-05,
        0.00016716347332851322,
        0.9999999840612854
      ],
      [
        -0.9030199120147673,
        -0.42959869445162213,
        1.5175773247666502e-05
      ]
    ],
    "position_light": [
      390.468658,
      206.654297,
      230.9319
    ],
    "rotation_matrix_light": [
      [
        0.37761191720815546,
        0.5063412985550683,
        0.7752597818537658
      ],
      [
        0.46346970836111717,
        0.6214688719410237,
        -0.6316425180749095
      ],
      [
        -0.8016265149145468,
        0.5978251672403216,
        1.982463328498163e-07
      ]
    ],
    "servo_angle": [
      [
        39.486704,
        16.648778,
        -64.211151,
        119.806965,
        62.209752,
        15.371541,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.411271,
        -27.288719,
        -29.598369,
        -212.630024,
        37.877209,
        63.968217,
        0.0
      ]
    ],
    "turn_angle": 617.0521106682787,
    "filename": "scan-0162_light-16_camera-162.png"
  },
  {
    "id": 163,
    "scan_id": "0163",
    "camera_id": 163,
    "light_id": 16,
    "position": [
      579.358459,
      -136.381149,
      224.821198
    ],
    "rotation_matrix": [
      [
        0.5326827420978384,
        -0.846314991980096,
        0.00017498816368022307
      ],
      [
        -6.285747513434803e-05,
        0.0001672014202909744,
        0.9999999840463111
      ],
      [
        -0.8463150077365196,
        -0.5326827445988979,
        3.5868087479073996e-05
      ]
    ],
    "position_light": [
      390.468658,
      206.654297,
      230.9319
    ],
    "rotation_matrix_light": [
      [
        0.37761191720815546,
        0.5063412985550683,
        0.7752597818537658
      ],
      [
        0.46346970836111717,
        0.6214688719410237,
        -0.6316425180749095
      ],
      [
        -0.8016265149145468,
        0.5978251672403216,
        1.982463328498163e-07
      ]
    ],
    "servo_angle": [
      [
        42.547158,
        7.68789,
        -60.712384,
        119.581506,
        57.487319,
        12.800336,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.411271,
        -27.288719,
        -29.598369,
        -212.630024,
        37.877209,
        63.968217,
        0.0
      ]
    ],
    "turn_angle": 617.0521106682787,
    "filename": "scan-0163_light-16_camera-163.png"
  },
  {
    "id": 164,
    "scan_id": "0164",
    "camera_id": 164,
    "light_id": 16,
    "position": [
      562.806152,
      -136.381149,
      247.41803
    ],
    "rotation_matrix": [
      [
        0.5783652325004109,
        -0.8157779280795217,
        0.00017289600455194787
      ],
      [
        -6.30393882754543e-05,
        0.00016724675507578945,
        0.9999999840272791
      ],
      [
        -0.8157779439656242,
        -0.5783652341616028,
        4.530356682957981e-05
      ]
    ],
    "position_light": [
      390.468658,
      206.654297,
      230.9319
    ],
    "rotation_matrix_light": [
      [
        0.37761191720815546,
        0.5063412985550683,
        0.7752597818537658
      ],
      [
        0.46346970836111717,
        0.6214688719410237,
        -0.6316425180749095
      ],
      [
        -0.8016265149145468,
        0.5978251672403216,
        1.982463328498163e-07
      ]
    ],
    "servo_angle": [
      [
        44.306483,
        3.639657,
        -59.312247,
        119.479004,
        54.950148,
        11.598213,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.411271,
        -27.288719,
        -29.598369,
        -212.630024,
        37.877209,
        63.968217,
        0.0
      ]
    ],
    "turn_angle": 617.0521106682787,
    "filename": "scan-0164_light-16_camera-164.png"
  },
  {
    "id": 165,
    "scan_id": "0165",
    "camera_id": 165,
    "light_id": 16,
    "position": [
      548.986877,
      -136.381149,
      264.464783
    ],
    "rotation_matrix": [
      [
        0.6129393479590962,
        -0.7901299427400312,
        0.00017119904470130898
      ],
      [
        -6.312777548078685e-05,
        0.00016770095302554022,
        0.999999983945637
      ],
      [
        -0.7901299587652413,
        -0.6129393489261603,
        5.291136717366918e-05
      ]
    ],
    "position_light": [
      390.468658,
      206.654297,
      230.9319
    ],
    "rotation_matrix_light": [
      [
        0.37761191720815546,
        0.5063412985550683,
        0.7752597818537658
      ],
      [
        0.46346970836111717,
        0.6214688719410237,
        -0.6316425180749095
      ],
      [
        -0.8016265149145468,
        0.5978251672403216,
        1.982463328498163e-07
      ]
    ],
    "servo_angle": [
      [
        45.852609,
        0.549409,
        -58.329281,
        119.400795,
        52.796743,
        10.637019,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.411271,
        -27.288719,
        -29.598369,
        -212.630024,
        37.877209,
        63.968217,
        0.0
      ]
    ],
    "turn_angle": 617.0521106682787,
    "filename": "scan-0165_light-16_camera-165.png"
  },
  {
    "id": 166,
    "scan_id": "0166",
    "camera_id": 166,
    "light_id": 16,
    "position": [
      518.769775,
      -136.381149,
      297.135468
    ],
    "rotation_matrix": [
      [
        0.679515700700399,
        -0.73366094688571,
        0.00016588070817491474
      ],
      [
        -6.320080135474582e-05,
        0.00016756346268576028,
        0.9999999839640723
      ],
      [
        -0.7336609629163219,
        -0.6795157002875281,
        6.749404399275516e-05
      ]
    ],
    "position_light": [
      390.468658,
      206.654297,
      230.9319
    ],
    "rotation_matrix_light": [
      [
        0.37761191720815546,
        0.5063412985550683,
        0.7752597818537658
      ],
      [
        0.46346970836111717,
        0.6214688719410237,
        -0.6316425180749095
      ],
      [
        -0.8016265149145468,
        0.5978251672403216,
        1.982463328498163e-07
      ]
    ],
    "servo_angle": [
      [
        49.496678,
        -5.439203,
        -56.669709,
        119.261394,
        47.937832,
        8.5746,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.411271,
        -27.288719,
        -29.598369,
        -212.630024,
        37.877209,
        63.968217,
        0.0
      ]
    ],
    "turn_angle": 617.0521106682787,
    "filename": "scan-0166_light-16_camera-166.png"
  },
  {
    "id": 167,
    "scan_id": "0167",
    "camera_id": 167,
    "light_id": 16,
    "position": [
      500.115204,
      -136.381149,
      314.709717
    ],
    "rotation_matrix": [
      [
        0.7155312843318289,
        -0.6985806718152765,
        0.000161581437064795
      ],
      [
        -6.29663960518001e-05,
        0.00016680537117791383,
        0.9999999841056005
      ],
      [
        -0.6985806876644077,
        -0.7155312831330894,
        7.536735421670437e-05
      ]
    ],
    "position_light": [
      390.468658,
      206.654297,
      230.9319
    ],
    "rotation_matrix_light": [
      [
        0.37761191720815546,
        0.5063412985550683,
        0.7752597818537658
      ],
      [
        0.46346970836111717,
        0.6214688719410237,
        -0.6316425180749095
      ],
      [
        -0.8016265149145468,
        0.5978251672403216,
        1.982463328498163e-07
      ]
    ],
    "servo_angle": [
      [
        51.937765,
        -8.674925,
        -55.93575,
        119.209885,
        44.816128,
        7.271751,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.411271,
        -27.288719,
        -29.598369,
        -212.630024,
        37.877209,
        63.968217,
        0.0
      ]
    ],
    "turn_angle": 617.0521106682787,
    "filename": "scan-0167_light-16_camera-167.png"
  },
  {
    "id": 168,
    "scan_id": "0168",
    "camera_id": 168,
    "light_id": 16,
    "position": [
      477.673676,
      -136.381149,
      333.674347
    ],
    "rotation_matrix": [
      [
        0.7545908132639376,
        -0.6561956110621019,
        0.00015671791310650773
      ],
      [
        -6.263696814368114e-05,
        0.00016679878384112667,
        0.999999984127388
      ],
      [
        -0.6561956267869207,
        -0.7545908111029452,
        8.476272636398496e-05
      ]
    ],
    "position_light": [
      390.468658,
      206.654297,
      230.9319
    ],
    "rotation_matrix_light": [
      [
        0.37761191720815546,
        0.5063412985550683,
        0.7752597818537658
      ],
      [
        0.46346970836111717,
        0.6214688719410237,
        -0.6316425180749095
      ],
      [
        -0.8016265149145468,
        0.5978251672403216,
        1.982463328498163e-07
      ]
    ],
    "servo_angle": [
      [
        55.077344,
        -12.145846,
        -55.314434,
        119.207651,
        40.923396,
        5.613611,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.411271,
        -27.288719,
        -29.598369,
        -212.630024,
        37.877209,
        63.968217,
        0.0
      ]
    ],
    "turn_angle": 617.0521106682787,
    "filename": "scan-0168_light-16_camera-168.png"
  },
  {
    "id": 169,
    "scan_id": "0169",
    "camera_id": 169,
    "light_id": 16,
    "position": [
      436.384949,
      -136.381149,
      363.333038
    ],
    "rotation_matrix": [
      [
        0.8161972290669375,
        -0.5777733651295982,
        0.0001476830167413956
      ],
      [
        -6.285039164083406e-05,
        0.0001668209452164171,
        0.9999999841103003
      ],
      [
        -0.5777733805855734,
        -0.8161972253797439,
        9.984551095792993e-05
      ]
    ],
    "position_light": [
      390.468658,
      206.654297,
      230.9319
    ],
    "rotation_matrix_light": [
      [
        0.37761191720815546,
        0.5063412985550683,
        0.7752597818537658
      ],
      [
        0.46346970836111717,
        0.6214688719410237,
        -0.6316425180749095
      ],
      [
        -0.8016265149145468,
        0.5978251672403216,
        1.982463328498163e-07
      ]
    ],
    "servo_angle": [
      [
        61.440041,
        -17.401244,
        -54.866209,
        119.512522,
        33.356629,
        2.084822,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.411271,
        -27.288719,
        -29.598369,
        -212.630024,
        37.877209,
        63.968217,
        0.0
      ]
    ],
    "turn_angle": 617.0521106682787,
    "filename": "scan-0169_light-16_camera-169.png"
  },
  {
    "id": 170,
    "scan_id": "0170",
    "camera_id": 170,
    "light_id": 17,
    "position": [
      416.331818,
      -136.381149,
      375.626617
    ],
    "rotation_matrix": [
      [
        0.8419808248521292,
        -0.5395074328395167,
        0.0001431511172310107
      ],
      [
        -6.314586592459648e-05,
        0.00016678826129185031,
        0.9999999840971376
      ],
      [
        -0.5395074481357303,
        -0.8419808205016253,
        0.00010636485379883487
      ]
    ],
    "position_light": [
      151.767105,
      215.679245,
      155.815613
    ],
    "rotation_matrix_light": [
      [
        0.03342312141032988,
        0.04957603543445471,
        0.9982109554927716
      ],
      [
        0.5580024392470435,
        0.8276825414735869,
        -0.05979036991166389
      ],
      [
        -0.8291659500664146,
        0.5590025288408146,
        1.8537225854320383e-07
      ]
    ],
    "servo_angle": [
      [
        64.792417,
        -19.440229,
        -54.967164,
        119.908034,
        29.5028,
        0.018621,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.61864,
        -9.224563,
        -30.313363,
        -292.319056,
        108.207205,
        69.794567,
        0.0
      ]
    ],
    "turn_angle": 631.6928510653828,
    "filename": "scan-0170_light-17_camera-170.png"
  },
  {
    "id": 171,
    "scan_id": "0171",
    "camera_id": 171,
    "light_id": 17,
    "position": [
      395.424622,
      -136.381149,
      387.142761
    ],
    "rotation_matrix": [
      [
        0.8663126443232859,
        -0.4995021353436358,
        0.00013810410757625347
      ],
      [
        -6.32469935558655e-05,
        0.00016679094892924073,
        0.9999999840902988
      ],
      [
        -0.49950215043122104,
        -0.86631263927518,
        0.00011290109968087325
      ]
    ],
    "position_light": [
      151.767105,
      215.679245,
      155.815613
    ],
    "rotation_matrix_light": [
      [
        0.03342312141032988,
        0.04957603543445471,
        0.9982109554927716
      ],
      [
        0.5580024392470435,
        0.8276825414735869,
        -0.05979036991166389
      ],
      [
        -0.8291659500664146,
        0.5590025288408146,
        1.8537225854320383e-07
      ]
    ],
    "servo_angle": [
      [
        68.445767,
        -21.210497,
        -55.302574,
        120.602631,
        25.382374,
        -2.50182,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.61864,
        -9.224563,
        -30.313363,
        -292.319056,
        108.207205,
        69.794567,
        0.0
      ]
    ],
    "turn_angle": 631.6928510653828,
    "filename": "scan-0171_light-17_camera-171.png"
  },
  {
    "id": 172,
    "scan_id": "0172",
    "camera_id": 172,
    "light_id": 17,
    "position": [
      345.468445,
      -136.381149,
      409.825531
    ],
    "rotation_matrix": [
      [
        0.9149775685710857,
        -0.40350468811829476,
        0.00012521302689813552
      ],
      [
        -6.312692426976851e-05,
        0.00016716857871940105,
        0.9999999840348288
      ],
      [
        -0.403504702607957,
        -0.9149775618676252,
        0.00012748348980889945
      ]
    ],
    "position_light": [
      151.767105,
      215.679245,
      155.815613
    ],
    "rotation_matrix_light": [
      [
        0.03342312141032988,
        0.04957603543445471,
        0.9982109554927716
      ],
      [
        0.5580024392470435,
        0.8276825414735869,
        -0.05979036991166389
      ],
      [
        -0.8291659500664146,
        0.5590025288408146,
        1.8537225854320383e-07
      ]
    ],
    "servo_angle": [
      [
        77.565078,
        -23.95697,
        -57.187433,
        124.357911,
        15.3402,
        -10.986122,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.61864,
        -9.224563,
        -30.313363,
        -292.319056,
        108.207205,
        69.794567,
        0.0
      ]
    ],
    "turn_angle": 631.6928510653828,
    "filename": "scan-0172_light-17_camera-172.png"
  },
  {
    "id": 173,
    "scan_id": "0173",
    "camera_id": 173,
    "light_id": 17,
    "position": [
      339.449768,
      -136.381149,
      412.13269
    ],
    "rotation_matrix": [
      [
        0.9200065990479556,
        -0.3919028483964913,
        0.0001229915888576183
      ],
      [
        -6.255863426368746e-05,
        0.00016697309249003034,
        0.9999999841032017
      ],
      [
        -0.39190286270277674,
        -0.920006592116982,
        0.00012909943999450668
      ]
    ],
    "position_light": [
      151.767105,
      215.679245,
      155.815613
    ],
    "rotation_matrix_light": [
      [
        0.03342312141032988,
        0.04957603543445471,
        0.9982109554927716
      ],
      [
        0.5580024392470435,
        0.8276825414735869,
        -0.05979036991166389
      ],
      [
        -0.8291659500664146,
        0.5590025288408146,
        1.8537225854320383e-07
      ]
    ],
    "servo_angle": [
      [
        78.665043,
        -24.145416,
        -57.535849,
        125.128482,
        14.140541,
        -12.361908,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.61864,
        -9.224563,
        -30.313363,
        -292.319056,
        108.207205,
        69.794567,
        0.0
      ]
    ],
    "turn_angle": 631.6928510653828,
    "filename": "scan-0173_light-17_camera-173.png"
  },
  {
    "id": 174,
    "scan_id": "0174",
    "camera_id": 174,
    "light_id": 17,
    "position": [
      286.625244,
      -136.381149,
      428.785248
    ],
    "rotation_matrix": [
      [
        0.9570944306315117,
        -0.2897761877309609,
        0.0001089874010497538
      ],
      [
        -6.317622646326293e-05,
        0.00016744572833266025,
        0.9999999839853463
      ],
      [
        -0.28977620133977033,
        -0.9570944221893883,
        0.0001419544079604429
      ]
    ],
    "position_light": [
      151.767105,
      215.679245,
      155.815613
    ],
    "rotation_matrix_light": [
      [
        0.03342312141032988,
        0.04957603543445471,
        0.9982109554927716
      ],
      [
        0.5580024392470435,
        0.8276825414735869,
        -0.05979036991166389
      ],
      [
        -0.8291659500664146,
        0.5590025288408146,
        1.8537225854320383e-07
      ]
    ],
    "servo_angle": [
      [
        87.361568,
        -24.513655,
        -62.066971,
        137.787412,
        4.390404,
        -30.66705,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.61864,
        -9.224563,
        -30.313363,
        -292.319056,
        108.207205,
        69.794567,
        0.0
      ]
    ],
    "turn_angle": 631.6928510653828,
    "filename": "scan-0174_light-17_camera-174.png"
  },
  {
    "id": 175,
    "scan_id": "0175",
    "camera_id": 175,
    "light_id": 17,
    "position": [
      251.89093,
      -136.381149,
      436.411865
    ],
    "rotation_matrix": [
      [
        0.9749684976603165,
        -0.22234302056840338,
        9.886609427885162e-05
      ],
      [
        -6.336911237192488e-05,
        0.0001667837574714781,
        0.999999984083767
      ],
      [
        -0.2223430335187987,
        -0.9749684884075471,
        0.0001485192296005744
      ]
    ],
    "position_light": [
      151.767105,
      215.679245,
      155.815613
    ],
    "rotation_matrix_light": [
      [
        0.03342312141032988,
        0.04957603543445471,
        0.9982109554927716
      ],
      [
        0.5580024392470435,
        0.8276825414735869,
        -0.05979036991166389
      ],
      [
        -0.8291659500664146,
        0.5590025288408146,
        1.8537225854320383e-07
      ]
    ],
    "servo_angle": [
      [
        90.524352,
        -23.756377,
        -66.311901,
        155.866121,
        -0.246945,
        -52.744604,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.61864,
        -9.224563,
        -30.313363,
        -292.319056,
        108.207205,
        69.794567,
        0.0
      ]
    ],
    "turn_angle": 631.6928510653828,
    "filename": "scan-0175_light-17_camera-175.png"
  },
  {
    "id": 176,
    "scan_id": "0176",
    "camera_id": 176,
    "light_id": 17,
    "position": [
      236.953979,
      -136.381149,
      438.920532
    ],
    "rotation_matrix": [
      [
        0.9811436560674662,
        -0.19327989381921334,
        9.382856680832663e-05
      ],
      [
        -6.279439467073156e-05,
        0.00016669216189718616,
        0.9999999841352937
      ],
      [
        -0.19327990639337117,
        -0.981143646393818,
        0.00015141206322716316
      ]
    ],
    "position_light": [
      151.767105,
      215.679245,
      155.815613
    ],
    "rotation_matrix_light": [
      [
        0.03342312141032988,
        0.04957603543445471,
        0.9982109554927716
      ],
      [
        0.5580024392470435,
        0.8276825414735869,
        -0.05979036991166389
      ],
      [
        -0.8291659500664146,
        0.5590025288408146,
        1.8537225854320383e-07
      ]
    ],
    "servo_angle": [
      [
        90.814785,
        -23.395815,
        -67.924261,
        166.73937,
        -1.484648,
        -65.350363,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.61864,
        -9.224563,
        -30.313363,
        -292.319056,
        108.207205,
        69.794567,
        0.0
      ]
    ],
    "turn_angle": 631.6928510653828,
    "filename": "scan-0176_light-17_camera-176.png"
  },
  {
    "id": 177,
    "scan_id": "0177",
    "camera_id": 177,
    "light_id": 17,
    "position": [
      190.092606,
      -136.381149,
      443.873505
    ],
    "rotation_matrix": [
      [
        0.9947993490279003,
        -0.10185405676470324,
        7.933623481686664e-05
      ],
      [
        -6.267871185734047e-05,
        0.0001667434007441293,
        0.9999999841340087
      ],
      [
        -0.10185406837748126,
        -0.9947993382171155,
        0.0001594921454394771
      ]
    ],
    "position_light": [
      151.767105,
      215.679245,
      155.815613
    ],
    "rotation_matrix_light": [
      [
        0.03342312141032988,
        0.04957603543445471,
        0.9982109554927716
      ],
      [
        0.5580024392470435,
        0.8276825414735869,
        -0.05979036991166389
      ],
      [
        -0.8291659500664146,
        0.5590025288408146,
        1.8537225854320383e-07
      ]
    ],
    "servo_angle": [
      [
        89.798071,
        -23.321273,
        -68.247008,
        206.376075,
        -1.689939,
        -110.275754,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.61864,
        -9.224563,
        -30.313363,
        -292.319056,
        108.207205,
        69.794567,
        0.0
      ]
    ],
    "turn_angle": 631.6928510653828,
    "filename": "scan-0177_light-17_camera-177.png"
  },
  {
    "id": 178,
    "scan_id": "0178",
    "camera_id": 178,
    "light_id": 17,
    "position": [
      155.120712,
      -136.381149,
      444.739166
    ],
    "rotation_matrix": [
      [
        0.9994425367931259,
        -0.033385789751151085,
        6.84924316072949e-05
      ],
      [
        -6.297126233833009e-05,
        0.0001664262666207228,
        0.9999999841684588
      ],
      [
        -0.03338580062154227,
        -0.9994425252834651,
        0.0001642311447756506
      ]
    ],
    "position_light": [
      151.767105,
      215.679245,
      155.815613
    ],
    "rotation_matrix_light": [
      [
        0.03342312141032988,
        0.04957603543445471,
        0.9982109554927716
      ],
      [
        0.5580024392470435,
        0.8276825414735869,
        -0.05979036991166389
      ],
      [
        -0.8291659500664146,
        0.5590025288408146,
        1.8537225854320383e-07
      ]
    ],
    "servo_angle": [
      [
        91.910051,
        -24.023948,
        -64.909014,
        229.294959,
        1.850195,
        -137.056088,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.61864,
        -9.224563,
        -30.313363,
        -292.319056,
        108.207205,
        69.794567,
        0.0
      ]
    ],
    "turn_angle": 631.6928510653828,
    "filename": "scan-0178_light-17_camera-178.png"
  },
  {
    "id": 179,
    "scan_id": "0179",
    "camera_id": 179,
    "light_id": 17,
    "position": [
      135.483414,
      -136.381149,
      444.172638
    ],
    "rotation_matrix": [
      [
        0.9999867470630015,
        0.005147993429952634,
        6.214500029379233e-05
      ],
      [
        -6.300555106070454e-05,
        0.00016700035847838635,
        0.9999999840705899
      ],
      [
        0.005147982969710811,
        -0.9999867350492829,
        0.00016732249739603855
      ]
    ],
    "position_light": [
      151.767105,
      215.679245,
      155.815613
    ],
    "rotation_matrix_light": [
      [
        0.03342312141032988,
        0.04957603543445471,
        0.9982109554927716
      ],
      [
        0.5580024392470435,
        0.8276825414735869,
        -0.05979036991166389
      ],
      [
        -0.8291659500664146,
        0.5590025288408146,
        1.8537225854320383e-07
      ]
    ],
    "servo_angle": [
      [
        94.577112,
        -24.214228,
        -63.302956,
        237.383405,
        4.868881,
        -147.225115,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.61864,
        -9.224563,
        -30.313363,
        -292.319056,
        108.207205,
        69.794567,
        0.0
      ]
    ],
    "turn_angle": 631.6928510653828,
    "filename": "scan-0179_light-17_camera-179.png"
  },
  {
    "id": 180,
    "scan_id": "0180",
    "camera_id": 180,
    "light_id": 18,
    "position": [
      138.326691,
      -136.381149,
      444.301575
    ],
    "rotation_matrix": [
      [
        0.9999999034000491,
        -0.0004349952995691558,
        6.307917230269578e-05
      ],
      [
        -6.30063799939559e-05,
        0.0001673521224217489,
        0.9999999840117315
      ],
      [
        -0.00043500584904769963,
        -0.9999998913861723,
        0.00016732469877639433
      ]
    ],
    "position_light": [
      -125.118027,
      210.485794,
      154.986389
    ],
    "rotation_matrix_light": [
      [
        0.31498016504047915,
        -0.6049517152928845,
        -0.7313145135953949
      ],
      [
        -0.33773576543187644,
        0.6486566661520076,
        -0.6820403816525142
      ],
      [
        0.886973533077068,
        0.4618202589977614,
        1.5314539736355215e-07
      ]
    ],
    "servo_angle": [
      [
        94.145675,
        -24.203112,
        -63.50498,
        236.398261,
        4.40043,
        -145.943466,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.216442,
        1.600959,
        -45.539774,
        -181.650138,
        46.253221,
        154.079982,
        0.0
      ]
    ],
    "turn_angle": 649.4639026457928,
    "filename": "scan-0180_light-18_camera-180.png"
  },
  {
    "id": 181,
    "scan_id": "0181",
    "camera_id": 181,
    "light_id": 18,
    "position": [
      79.24633,
      -136.381149,
      438.325592
    ],
    "rotation_matrix": [
      [
        0.9932656428536872,
        0.11585922878133442,
        4.280940209760997e-05
      ],
      [
        -6.258207857399306e-05,
        0.0001670236138528458,
        0.9999999840932975
      ],
      [
        0.11585921978821512,
        -0.993265629733208,
        0.0001731495285443585
      ]
    ],
    "position_light": [
      -125.118027,
      210.485794,
      154.986389
    ],
    "rotation_matrix_light": [
      [
        0.31498016504047915,
        -0.6049517152928845,
        -0.7313145135953949
      ],
      [
        -0.33773576543187644,
        0.6486566661520076,
        -0.6820403816525142
      ],
      [
        0.886973533077068,
        0.4618202589977614,
        1.5314539736355215e-07
      ]
    ],
    "servo_angle": [
      [
        104.509564,
        -23.156147,
        -61.240537,
        248.533163,
        15.169745,
        -163.963962,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.216442,
        1.600959,
        -45.539774,
        -181.650138,
        46.253221,
        154.079982,
        0.0
      ]
    ],
    "turn_angle": 649.4639026457928,
    "filename": "scan-0181_light-18_camera-181.png"
  },
  {
    "id": 182,
    "scan_id": "0182",
    "camera_id": 182,
    "light_id": 18,
    "position": [
      61.065472,
      -136.381149,
      435.069763
    ],
    "rotation_matrix": [
      [
        0.9884164088535917,
        0.15176627201765885,
        3.724018436523924e-05
      ],
      [
        -6.325985974914294e-05,
        0.00016661738664225378,
        0.9999999841184181
      ],
      [
        0.15176626340250818,
        -0.9884163955117845,
        0.0001742880720400075
      ]
    ],
    "position_light": [
      -125.118027,
      210.485794,
      154.986389
    ],
    "rotation_matrix_light": [
      [
        0.31498016504047915,
        -0.6049517152928845,
        -0.7313145135953949
      ],
      [
        -0.33773576543187644,
        0.6486566661520076,
        -0.6820403816525142
      ],
      [
        0.886973533077068,
        0.4618202589977614,
        1.5314539736355215e-07
      ]
    ],
    "servo_angle": [
      [
        107.869905,
        -22.307653,
        -61.171667,
        250.108683,
        18.617805,
        -167.251422,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.216442,
        1.600959,
        -45.539774,
        -181.650138,
        46.253221,
        154.079982,
        0.0
      ]
    ],
    "turn_angle": 649.4639026457928,
    "filename": "scan-0182_light-18_camera-182.png"
  },
  {
    "id": 183,
    "scan_id": "0183",
    "camera_id": 183,
    "light_id": 18,
    "position": [
      42.00869,
      -136.381149,
      430.91922
    ],
    "rotation_matrix": [
      [
        0.9818875189450605,
        0.18946477044155696,
        3.0024018067759117e-05
      ],
      [
        -6.284200280520791e-05,
        0.00016720660288116473,
        0.9999999840464172
      ],
      [
        0.189464762398701,
        -0.9818875051672061,
        0.00017608442208982833
      ]
    ],
    "position_light": [
      -125.118027,
      210.485794,
      154.986389
    ],
    "rotation_matrix_light": [
      [
        0.31498016504047915,
        -0.6049517152928845,
        -0.7313145135953949
      ],
      [
        -0.33773576543187644,
        0.6486566661520076,
        -0.6820403816525142
      ],
      [
        0.886973533077068,
        0.4618202589977614,
        1.5314539736355215e-07
      ]
    ],
    "servo_angle": [
      [
        111.32484,
        -21.172338,
        -61.317771,
        251.224747,
        22.177019,
        -170.116498,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.216442,
        1.600959,
        -45.539774,
        -181.650138,
        46.253221,
        154.079982,
        0.0
      ]
    ],
    "turn_angle": 649.4639026457928,
    "filename": "scan-0183_light-18_camera-183.png"
  },
  {
    "id": 184,
    "scan_id": "0184",
    "camera_id": 184,
    "light_id": 18,
    "position": [
      -2.346929,
      -136.381149,
      418.219727
    ],
    "rotation_matrix": [
      [
        0.9607350519367495,
        0.27746740312292784,
        1.3576063505049696e-05
      ],
      [
        -6.244399445917703e-05,
        0.0001672847709274783,
        0.9999999840582762
      ],
      [
        0.27746739642855045,
        -0.9607350374687204,
        0.0001780425160683996
      ]
    ],
    "position_light": [
      -125.118027,
      210.485794,
      154.986389
    ],
    "rotation_matrix_light": [
      [
        0.31498016504047915,
        -0.6049517152928845,
        -0.7313145135953949
      ],
      [
        -0.33773576543187644,
        0.6486566661520076,
        -0.6820403816525142
      ],
      [
        0.886973533077068,
        0.4618202589977614,
        1.5314539736355215e-07
      ]
    ],
    "servo_angle": [
      [
        118.887654,
        -17.628135,
        -62.350757,
        252.550858,
        30.049688,
        -175.338435,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.216442,
        1.600959,
        -45.539774,
        -181.650138,
        46.253221,
        154.079982,
        0.0
      ]
    ],
    "turn_angle": 649.4639026457928,
    "filename": "scan-0184_light-18_camera-184.png"
  },
  {
    "id": 185,
    "scan_id": "0185",
    "camera_id": 185,
    "light_id": 18,
    "position": [
      -35.62257,
      -136.381149,
      405.733093
    ],
    "rotation_matrix": [
      [
        0.9390664702129092,
        0.34373560263575936,
        1.5806273241381064e-06
      ],
      [
        -6.292044920547246e-05,
        0.00016729677228588535,
        0.9999999840264033
      ],
      [
        0.34373559688063166,
        -0.939066455312094,
        0.00017873078795427322
      ]
    ],
    "position_light": [
      -125.118027,
      210.485794,
      154.986389
    ],
    "rotation_matrix_light": [
      [
        0.31498016504047915,
        -0.6049517152928845,
        -0.7313145135953949
      ],
      [
        -0.33773576543187644,
        0.6486566661520076,
        -0.6820403816525142
      ],
      [
        0.886973533077068,
        0.4618202589977614,
        1.5314539736355215e-07
      ]
    ],
    "servo_angle": [
      [
        124.008464,
        -14.212046,
        -63.657158,
        252.905576,
        35.467348,
        -178.469134,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.216442,
        1.600959,
        -45.539774,
        -181.650138,
        46.253221,
        154.079982,
        0.0
      ]
    ],
    "turn_angle": 649.4639026457928,
    "filename": "scan-0185_light-18_camera-185.png"
  },
  {
    "id": 186,
    "scan_id": "0186",
    "camera_id": 186,
    "light_id": 18,
    "position": [
      -73.175858,
      -136.381149,
      388.30658
    ],
    "rotation_matrix": [
      [
        0.9080765861885252,
        0.4188041468766905,
        -1.3231826884008147e-05
      ],
      [
        -6.265080572082082e-05,
        0.00016743758861137437,
        0.999999984019765
      ],
      [
        0.41880414239960706,
        -0.9080765708482633,
        0.00017828457110691254
      ]
    ],
    "position_light": [
      -125.118027,
      210.485794,
      154.986389
    ],
    "rotation_matrix_light": [
      [
        0.31498016504047915,
        -0.6049517152928845,
        -0.7313145135953949
      ],
      [
        -0.33773576543187644,
        0.6486566661520076,
        -0.6820403816525142
      ],
      [
        0.886973533077068,
        0.4618202589977614,
        1.5314539736355215e-07
      ]
    ],
    "servo_angle": [
      [
        129.179408,
        -9.64477,
        -65.620054,
        252.994041,
        41.033862,
        -181.576112,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.216442,
        1.600959,
        -45.539774,
        -181.650138,
        46.253221,
        154.079982,
        0.0
      ]
    ],
    "turn_angle": 649.4639026457928,
    "filename": "scan-0186_light-18_camera-186.png"
  },
  {
    "id": 187,
    "scan_id": "0187",
    "camera_id": 187,
    "light_id": 18,
    "position": [
      -83.334244,
      -136.381149,
      382.935547
    ],
    "rotation_matrix": [
      [
        0.8984060001735943,
        0.43916586681426517,
        -1.665409368620252e-05
      ],
      [
        -6.289305256348965e-05,
        0.00016658304923639067,
        0.9999999841472756
      ],
      [
        0.4391658626265794,
        -0.8984059848839848,
        0.00017727969290676215
      ]
    ],
    "position_light": [
      -125.118027,
      210.485794,
      154.986389
    ],
    "rotation_matrix_light": [
      [
        0.31498016504047915,
        -0.6049517152928845,
        -0.7313145135953949
      ],
      [
        -0.33773576543187644,
        0.6486566661520076,
        -0.6820403816525142
      ],
      [
        0.886973533077068,
        0.4618202589977614,
        1.5314539736355215e-07
      ]
    ],
    "servo_angle": [
      [
        130.469652,
        -8.285027,
        -66.237989,
        252.985733,
        42.441104,
        -182.37069,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.216442,
        1.600959,
        -45.539774,
        -181.650138,
        46.253221,
        154.079982,
        0.0
      ]
    ],
    "turn_angle": 649.4639026457928,
    "filename": "scan-0187_light-18_camera-187.png"
  },
  {
    "id": 188,
    "scan_id": "0188",
    "camera_id": 188,
    "light_id": 18,
    "position": [
      -112.412437,
      -136.381149,
      365.870361
    ],
    "rotation_matrix": [
      [
        0.8674099492543861,
        0.49759419116680625,
        -2.9181422078305985e-05
      ],
      [
        -6.244903337140895e-05,
        0.00016750664690085015,
        0.9999999840208207
      ],
      [
        0.49759418810374156,
        -0.8674099335715353,
        0.00017637120833763342
      ]
    ],
    "position_light": [
      -125.118027,
      210.485794,
      154.986389
    ],
    "rotation_matrix_light": [
      [
        0.31498016504047915,
        -0.6049517152928845,
        -0.7313145135953949
      ],
      [
        -0.33773576543187644,
        0.6486566661520076,
        -0.6820403816525142
      ],
      [
        0.886973533077068,
        0.4618202589977614,
        1.5314539736355215e-07
      ]
    ],
    "servo_angle": [
      [
        133.920462,
        -4.105013,
        -68.215438,
        252.919556,
        46.247835,
        -184.590844,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.216442,
        1.600959,
        -45.539774,
        -181.650138,
        46.253221,
        154.079982,
        0.0
      ]
    ],
    "turn_angle": 649.4639026457928,
    "filename": "scan-0188_light-18_camera-188.png"
  },
  {
    "id": 189,
    "scan_id": "0189",
    "camera_id": 189,
    "light_id": 18,
    "position": [
      -151.817017,
      -136.381149,
      338.271576
    ],
    "rotation_matrix": [
      [
        0.8166395683381629,
        0.5771479995658971,
        -4.496156628835957e-05
      ],
      [
        -6.288445350166594e-05,
        0.00016688180260293617,
        0.9999999840980047
      ],
      [
        0.5771479978913596,
        -0.8166395525245806,
        0.00017257591978347975
      ]
    ],
    "position_light": [
      -125.118027,
      210.485794,
      154.986389
    ],
    "rotation_matrix_light": [
      [
        0.31498016504047915,
        -0.6049517152928845,
        -0.7313145135953949
      ],
      [
        -0.33773576543187644,
        0.6486566661520076,
        -0.6820403816525142
      ],
      [
        0.886973533077068,
        0.4618202589977614,
        1.5314539736355215e-07
      ]
    ],
    "servo_angle": [
      [
        138.065411,
        2.255849,
        -71.419017,
        252.77689,
        50.920249,
        -187.580653,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.216442,
        1.600959,
        -45.539774,
        -181.650138,
        46.253221,
        154.079982,
        0.0
      ]
    ],
    "turn_angle": 649.4639026457928,
    "filename": "scan-0189_light-18_camera-189.png"
  },
  {
    "id": 190,
    "scan_id": "0190",
    "camera_id": 190,
    "light_id": 19,
    "position": [
      -175.191849,
      -136.381149,
      319.062836
    ],
    "rotation_matrix": [
      [
        0.7809624684201921,
        0.6245779534396116,
        -5.473779606118834e-05
      ],
      [
        -6.325853063987585e-05,
        0.00016673712681397612,
        0.9999999840985441
      ],
      [
        0.6245779526347359,
        -0.7809624525391194,
        0.00016972532173858967
      ]
    ],
    "position_light": [
      358.922577,
      209.721649,
      209.577042
    ],
    "rotation_matrix_light": [
      [
        0.33720694662101913,
        0.46842046835215007,
        0.8166233770712673
      ],
      [
        0.47710463787505836,
        0.6627555390167842,
        -0.5771709105808096
      ],
      [
        -0.8115803346980742,
        0.5842408410333224,
        1.937415997632641e-07
      ]
    ],
    "servo_angle": [
      [
        140.264194,
        6.436837,
        -73.638828,
        252.681664,
        53.45467,
        -189.410451,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.001202,
        -29.61298,
        -23.342472,
        -223.293055,
        46.315444,
        69.354364,
        0.0
      ]
    ],
    "turn_angle": 681.9254708942129,
    "filename": "scan-0190_light-19_camera-190.png"
  },
  {
    "id": 191,
    "scan_id": "0191",
    "camera_id": 191,
    "light_id": 19,
    "position": [
      -213.651581,
      -136.381149,
      281.759735
    ],
    "rotation_matrix": [
      [
        0.711092843442954,
        0.7030981173641259,
        -7.323412362242321e-05
      ],
      [
        -6.257581546775803e-05,
        0.0001674465257359703,
        0.9999999840229642
      ],
      [
        0.7030981183935014,
        -0.711092827499113,
        0.0001630669641581317
      ]
    ],
    "position_light": [
      358.922577,
      209.721649,
      209.577042
    ],
    "rotation_matrix_light": [
      [
        0.33720694662101913,
        0.46842046835215007,
        0.8166233770712673
      ],
      [
        0.47710463787505836,
        0.6627555390167842,
        -0.5771709105808096
      ],
      [
        -0.8115803346980742,
        0.5842408410333224,
        1.937415997632641e-07
      ]
    ],
    "servo_angle": [
      [
        143.513036,
        14.094017,
        -77.920427,
        252.521236,
        57.293316,
        -192.642677,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.001202,
        -29.61298,
        -23.342472,
        -223.293055,
        46.315444,
        69.354364,
        0.0
      ]
    ],
    "turn_angle": 681.9254708942129,
    "filename": "scan-0191_light-19_camera-191.png"
  },
  {
    "id": 192,
    "scan_id": "0192",
    "camera_id": 192,
    "light_id": 19,
    "position": [
      -220.121948,
      -136.381149,
      274.654419
    ],
    "rotation_matrix": [
      [
        0.6977124664810469,
        0.7163779089174271,
        -7.57101636457147e-05
      ],
      [
        -6.279874765535709e-05,
        0.00016684717671122673,
        0.9999999841091686
      ],
      [
        0.7163779101656135,
        -0.6977124506393121,
        0.00016139899071654362
      ]
    ],
    "position_light": [
      358.922577,
      209.721649,
      209.577042
    ],
    "rotation_matrix_light": [
      [
        0.33720694662101913,
        0.46842046835215007,
        0.8166233770712673
      ],
      [
        0.47710463787505836,
        0.6627555390167842,
        -0.5771709105808096
      ],
      [
        -0.8115803346980742,
        0.5842408410333224,
        1.937415997632641e-07
      ]
    ],
    "servo_angle": [
      [
        144.018729,
        15.493925,
        -78.732308,
        252.493963,
        57.903287,
        -193.226808,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.001202,
        -29.61298,
        -23.342472,
        -223.293055,
        46.315444,
        69.354364,
        0.0
      ]
    ],
    "turn_angle": 681.9254708942129,
    "filename": "scan-0192_light-19_camera-192.png"
  },
  {
    "id": 193,
    "scan_id": "0193",
    "camera_id": 193,
    "light_id": 19,
    "position": [
      -254.927826,
      -136.381149,
      231.129578
    ],
    "rotation_matrix": [
      [
        0.6153408711172268,
        0.7882611265883759,
        -9.296406348457964e-05
      ],
      [
        -6.276294857732179e-05,
        0.00016693030395548147,
        0.999999984097543
      ],
      [
        0.7882611295716064,
        -0.6153408554970964,
        0.0001521926312054167
      ]
    ],
    "position_light": [
      358.922577,
      209.721649,
      209.577042
    ],
    "rotation_matrix_light": [
      [
        0.33720694662101913,
        0.46842046835215007,
        0.8166233770712673
      ],
      [
        0.47710463787505836,
        0.6627555390167842,
        -0.5771709105808096
      ],
      [
        -0.8115803346980742,
        0.5842408410333224,
        1.937415997632641e-07
      ]
    ],
    "servo_angle": [
      [
        146.559854,
        23.741538,
        -83.693148,
        252.341385,
        61.037022,
        -196.676071,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.001202,
        -29.61298,
        -23.342472,
        -223.293055,
        46.315444,
        69.354364,
        0.0
      ]
    ],
    "turn_angle": 681.9254708942129,
    "filename": "scan-0193_light-19_camera-193.png"
  },
  {
    "id": 194,
    "scan_id": "0194",
    "camera_id": 194,
    "light_id": 19,
    "position": [
      -267.758209,
      -136.381149,
      212.273788
    ],
    "rotation_matrix": [
      [
        0.5794668118366725,
        0.8149958307626773,
        -9.909236115412945e-05
      ],
      [
        -6.315945580992466e-05,
        0.00016649308248806172,
        0.9999999841454683
      ],
      [
        0.8149958343394927,
        -0.579466796390878,
        0.0001479519088605219
      ]
    ],
    "position_light": [
      358.922577,
      209.721649,
      209.577042
    ],
    "rotation_matrix_light": [
      [
        0.33720694662101913,
        0.46842046835215007,
        0.8166233770712673
      ],
      [
        0.47710463787505836,
        0.6627555390167842,
        -0.5771709105808096
      ],
      [
        -0.8115803346980742,
        0.5842408410333224,
        1.937415997632641e-07
      ]
    ],
    "servo_angle": [
      [
        147.426911,
        27.167596,
        -85.841969,
        252.279792,
        62.139565,
        -198.125597,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.001202,
        -29.61298,
        -23.342472,
        -223.293055,
        46.315444,
        69.354364,
        0.0
      ]
    ],
    "turn_angle": 681.9254708942129,
    "filename": "scan-0194_light-19_camera-194.png"
  },
  {
    "id": 195,
    "scan_id": "0195",
    "camera_id": 195,
    "light_id": 19,
    "position": [
      -290.933167,
      -136.381149,
      172.733276
    ],
    "rotation_matrix": [
      [
        0.5039244768934342,
        0.86374771146116,
        -0.00011195216598836044
      ],
      [
        -6.299080234151155e-05,
        0.00016636197054920032,
        0.9999999841779268
      ],
      [
        0.8637477164194634,
        -0.5039244618683474,
        0.00013824203034951132
      ]
    ],
    "position_light": [
      358.922577,
      209.721649,
      209.577042
    ],
    "rotation_matrix_light": [
      [
        0.33720694662101913,
        0.46842046835215007,
        0.8166233770712673
      ],
      [
        0.47710463787505836,
        0.6627555390167842,
        -0.5771709105808096
      ],
      [
        -0.8115803346980742,
        0.5842408410333224,
        1.937415997632641e-07
      ]
    ],
    "servo_angle": [
      [
        148.90984,
        34.13058,
        -90.367534,
        252.151621,
        64.082522,
        -201.124687,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.001202,
        -29.61298,
        -23.342472,
        -223.293055,
        46.315444,
        69.354364,
        0.0
      ]
    ],
    "turn_angle": 681.9254708942129,
    "filename": "scan-0195_light-19_camera-195.png"
  },
  {
    "id": 196,
    "scan_id": "0196",
    "camera_id": 196,
    "light_id": 19,
    "position": [
      -298.85199,
      -136.381149,
      157.064575
    ],
    "rotation_matrix": [
      [
        0.47388317780685196,
        0.8805877129627497,
        -0.00011649340493058435
      ],
      [
        -6.302366189736563e-05,
        0.00016620633482922198,
        0.999999984201736
      ],
      [
        0.8805877184129345,
        -0.47388316297847943,
        0.0001342602484132316
      ]
    ],
    "position_light": [
      358.922577,
      209.721649,
      209.577042
    ],
    "rotation_matrix_light": [
      [
        0.33720694662101913,
        0.46842046835215007,
        0.8166233770712673
      ],
      [
        0.47710463787505836,
        0.6627555390167842,
        -0.5771709105808096
      ],
      [
        -0.8115803346980742,
        0.5842408410333224,
        1.937415997632641e-07
      ]
    ],
    "servo_angle": [
      [
        149.394391,
        36.822221,
        -92.174299,
        252.099539,
        64.738444,
        -202.307043,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.001202,
        -29.61298,
        -23.342472,
        -223.293055,
        46.315444,
        69.354364,
        0.0
      ]
    ],
    "turn_angle": 681.9254708942129,
    "filename": "scan-0196_light-19_camera-196.png"
  },
  {
    "id": 197,
    "scan_id": "0197",
    "camera_id": 197,
    "light_id": 19,
    "position": [
      -312.95752,
      -136.381149,
      125.181526
    ],
    "rotation_matrix": [
      [
        0.4125843397260086,
        0.9109193963817461,
        -0.00012612838335579468
      ],
      [
        -6.27131190618635e-05,
        0.00016686748879840563,
        0.9999999841111531
      ],
      [
        0.9109194029550137,
        -0.4125843252606148,
        0.0001259735092486447
      ]
    ],
    "position_light": [
      358.922577,
      209.721649,
      209.577042
    ],
    "rotation_matrix_light": [
      [
        0.33720694662101913,
        0.46842046835215007,
        0.8166233770712673
      ],
      [
        0.47710463787505836,
        0.6627555390167842,
        -0.5771709105808096
      ],
      [
        -0.8115803346980742,
        0.5842408410333224,
        1.937415997632641e-07
      ]
    ],
    "servo_angle": [
      [
        150.233373,
        42.209285,
        -95.887638,
        251.988786,
        65.909742,
        -204.71719,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.001202,
        -29.61298,
        -23.342472,
        -223.293055,
        46.315444,
        69.354364,
        0.0
      ]
    ],
    "turn_angle": 681.9254708942129,
    "filename": "scan-0197_light-19_camera-197.png"
  },
  {
    "id": 198,
    "scan_id": "0198",
    "camera_id": 198,
    "light_id": 19,
    "position": [
      -328.754822,
      -136.381149,
      79.832794
    ],
    "rotation_matrix": [
      [
        0.32503744558884506,
        0.9457011367747321,
        -0.00013736104968486984
      ],
      [
        -6.273174304438633e-05,
        0.0001668087378619565,
        0.9999999841197866
      ],
      [
        0.9457011446698196,
        -0.32503743181028294,
        0.00011354456676554436
      ]
    ],
    "position_light": [
      358.922577,
      209.721649,
      209.577042
    ],
    "rotation_matrix_light": [
      [
        0.33720694662101913,
        0.46842046835215007,
        0.8166233770712673
      ],
      [
        0.47710463787505836,
        0.6627555390167842,
        -0.5771709105808096
      ],
      [
        -0.8115803346980742,
        0.5842408410333224,
        1.937415997632641e-07
      ]
    ],
    "servo_angle": [
      [
        151.143917,
        49.726778,
        -101.293896,
        251.815524,
        67.259802,
        -208.186564,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.001202,
        -29.61298,
        -23.342472,
        -223.293055,
        46.315444,
        69.354364,
        0.0
      ]
    ],
    "turn_angle": 681.9254708942129,
    "filename": "scan-0198_light-19_camera-198.png"
  },
  {
    "id": 199,
    "scan_id": "0199",
    "camera_id": 199,
    "light_id": 19,
    "position": [
      -336.878662,
      -136.381149,
      48.883366
    ],
    "rotation_matrix": [
      [
        0.26506401406872304,
        0.9642308062146951,
        -0.00014419547592503523
      ],
      [
        -6.281971106797402e-05,
        0.00016681350292468977,
        0.9999999841134697
      ],
      [
        0.9642308149501654,
        -0.26506400079945736,
        0.00010478895733534443
      ]
    ],
    "position_light": [
      358.922577,
      209.721649,
      209.577042
    ],
    "rotation_matrix_light": [
      [
        0.33720694662101913,
        0.46842046835215007,
        0.8166233770712673
      ],
      [
        0.47710463787505836,
        0.6627555390167842,
        -0.5771709105808096
      ],
      [
        -0.8115803346980742,
        0.5842408410333224,
        1.937415997632641e-07
      ]
    ],
    "servo_angle": [
      [
        151.606638,
        54.807997,
        -105.104295,
        251.684145,
        68.002126,
        -210.60605,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.001202,
        -29.61298,
        -23.342472,
        -223.293055,
        46.315444,
        69.354364,
        0.0
      ]
    ],
    "turn_angle": 681.9254708942129,
    "filename": "scan-0199_light-19_camera-199.png"
  },
  {
    "id": 200,
    "scan_id": "0200",
    "camera_id": 200,
    "light_id": 20,
    "position": [
      -331.23822,
      -136.381149,
      71.172165
    ],
    "rotation_matrix": [
      [
        0.30827227575193494,
        0.9512981576470279,
        -0.0001387807392531637
      ],
      [
        -6.28857210703826e-05,
        0.00016626402577962773,
        0.9999999842008298
      ],
      [
        0.9512981656915507,
        -0.308272262154162,
        0.00011107766019935461
      ]
    ],
    "position_light": [
      386.613068,
      190.140701,
      448.609039
    ],
    "rotation_matrix_light": [
      [
        0.517950848804448,
        0.386805475520646,
        0.7629603150426627
      ],
      [
        0.6113058116022897,
        0.45652343535829093,
        -0.6464453245789086
      ],
      [
        -0.5983578552371633,
        0.8012289791788061,
        2.656975912063153e-07
      ]
    ],
    "servo_angle": [
      [
        151.285381,
        51.15075,
        -102.34854,
        251.779886,
        67.481078,
        -208.858414,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.567846,
        -30.542661,
        -55.529007,
        -253.720265,
        13.134484,
        126.624991,
        0.0
      ]
    ],
    "turn_angle": 728.4012343571627,
    "filename": "scan-0200_light-20_camera-200.png"
  },
  {
    "id": 201,
    "scan_id": "0201",
    "camera_id": 201,
    "light_id": 20,
    "position": [
      -320.566742,
      -136.381149,
      105.03949
    ],
    "rotation_matrix": [
      [
        0.37374960200824453,
        0.9275296317894197,
        -0.0001309628290621645
      ],
      [
        -6.279194965774781e-05,
        0.00016649742271274137,
        0.9999999841678897
      ],
      [
        0.9275296389096417,
        -0.3737495878675881,
        0.00012046973941964856
      ]
    ],
    "position_light": [
      386.613068,
      190.140701,
      448.609039
    ],
    "rotation_matrix_light": [
      [
        0.517950848804448,
        0.386805475520646,
        0.7629603150426627
      ],
      [
        0.6113058116022897,
        0.45652343535829093,
        -0.6464453245789086
      ],
      [
        -0.5983578552371633,
        0.8012289791788061,
        2.656975912063153e-07
      ]
    ],
    "servo_angle": [
      [
        150.674951,
        45.564239,
        -98.267361,
        251.914416,
        66.551053,
        -206.24968,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.567846,
        -30.542661,
        -55.529007,
        -253.720265,
        13.134484,
        126.624991,
        0.0
      ]
    ],
    "turn_angle": 728.4012343571627,
    "filename": "scan-0201_light-20_camera-201.png"
  },
  {
    "id": 202,
    "scan_id": "0202",
    "camera_id": 202,
    "light_id": 20,
    "position": [
      -315.926727,
      -136.381149,
      117.624191
    ],
    "rotation_matrix": [
      [
        0.39802349612021126,
        0.9173752123605714,
        -0.00012760345051343602
      ],
      [
        -6.288956657846123e-05,
        0.00016638227368398484,
        0.9999999841809206
      ],
      [
        0.9173752190794924,
        -0.39802348179892033,
        0.00012391738375933103
      ]
    ],
    "position_light": [
      386.613068,
      190.140701,
      448.609039
    ],
    "rotation_matrix_light": [
      [
        0.517950848804448,
        0.386805475520646,
        0.7629603150426627
      ],
      [
        0.6113058116022897,
        0.45652343535829093,
        -0.6464453245789086
      ],
      [
        -0.5983578552371633,
        0.8012289791788061,
        2.656975912063153e-07
      ]
    ],
    "servo_angle": [
      [
        150.406463,
        43.47174,
        -96.776983,
        251.961284,
        66.158692,
        -205.290893,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.567846,
        -30.542661,
        -55.529007,
        -253.720265,
        13.134484,
        126.624991,
        0.0
      ]
    ],
    "turn_angle": 728.4012343571627,
    "filename": "scan-0202_light-20_camera-202.png"
  },
  {
    "id": 203,
    "scan_id": "0203",
    "camera_id": 203,
    "light_id": 20,
    "position": [
      -298.04892,
      -136.381149,
      158.71637
    ],
    "rotation_matrix": [
      [
        0.47705284200771503,
        0.8788746056443562,
        -0.0001161285486597774
      ],
      [
        -6.297061835475182e-05,
        0.00016631366788150137,
        0.9999999841872325
      ],
      [
        0.8788746110606811,
        -0.4770528271515027,
        0.00013468368530134
      ]
    ],
    "position_light": [
      386.613068,
      190.140701,
      448.609039
    ],
    "rotation_matrix_light": [
      [
        0.517950848804448,
        0.386805475520646,
        0.7629603150426627
      ],
      [
        0.6113058116022897,
        0.45652343535829093,
        -0.6464453245789086
      ],
      [
        -0.5983578552371633,
        0.8012289791788061,
        2.656975912063153e-07
      ]
    ],
    "servo_angle": [
      [
        149.345746,
        36.54004,
        -91.983332,
        252.105097,
        64.671981,
        -202.182425,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.567846,
        -30.542661,
        -55.529007,
        -253.720265,
        13.134484,
        126.624991,
        0.0
      ]
    ],
    "turn_angle": 728.4012343571627,
    "filename": "scan-0203_light-20_camera-203.png"
  },
  {
    "id": 204,
    "scan_id": "0204",
    "camera_id": 204,
    "light_id": 20,
    "position": [
      -283.979797,
      -136.381149,
      185.47908
    ],
    "rotation_matrix": [
      [
        0.5283188682655393,
        0.8490460304216665,
        -0.00010798069566037016
      ],
      [
        -6.286812207551007e-05,
        0.00016629853270577755,
        0.9999999841961986
      ],
      [
        0.8490460349605427,
        -0.5283188531275493,
        0.00014123658208153866
      ]
    ],
    "position_light": [
      386.613068,
      190.140701,
      448.609039
    ],
    "rotation_matrix_light": [
      [
        0.517950848804448,
        0.386805475520646,
        0.7629603150426627
      ],
      [
        0.6113058116022897,
        0.45652343535829093,
        -0.6464453245789086
      ],
      [
        -0.5983578552371633,
        0.8012289791788061,
        2.656975912063153e-07
      ]
    ],
    "servo_angle": [
      [
        148.475481,
        31.914895,
        -88.904429,
        252.19316,
        63.504407,
        -200.161603,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.567846,
        -30.542661,
        -55.529007,
        -253.720265,
        13.134484,
        126.624991,
        0.0
      ]
    ],
    "turn_angle": 728.4012343571627,
    "filename": "scan-0204_light-20_camera-204.png"
  },
  {
    "id": 205,
    "scan_id": "0205",
    "camera_id": 205,
    "light_id": 20,
    "position": [
      -261.886475,
      -136.381149,
      221.128693
    ],
    "rotation_matrix": [
      [
        0.5963266766824825,
        0.8027418547178609,
        -9.675202640552216e-05
      ],
      [
        -6.261370960652934e-05,
        0.00016704031245218243,
        0.9999999840885285
      ],
      [
        0.8027418581065455,
        -0.5963266611360445,
        0.0001498732397768876
      ]
    ],
    "position_light": [
      386.613068,
      190.140701,
      448.609039
    ],
    "rotation_matrix_light": [
      [
        0.517950848804448,
        0.386805475520646,
        0.7629603150426627
      ],
      [
        0.6113058116022897,
        0.45652343535829093,
        -0.6464453245789086
      ],
      [
        -0.5983578552371633,
        0.8012289791788061,
        2.656975912063153e-07
      ]
    ],
    "servo_angle": [
      [
        147.034435,
        25.568299,
        -84.832475,
        252.308554,
        61.637883,
        -197.447158,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.567846,
        -30.542661,
        -55.529007,
        -253.720265,
        13.134484,
        126.624991,
        0.0
      ]
    ],
    "turn_angle": 728.4012343571627,
    "filename": "scan-0205_light-20_camera-205.png"
  },
  {
    "id": 206,
    "scan_id": "0206",
    "camera_id": 206,
    "light_id": 20,
    "position": [
      -237.596039,
      -136.381149,
      254.022293
    ],
    "rotation_matrix": [
      [
        0.6587478930823423,
        0.7523637459710795,
        -8.430860074520874e-05
      ],
      [
        -6.257991117830652e-05,
        0.00016685145279371483,
        0.9999999841221737
      ],
      [
        0.752363748092191,
        -0.6587478773468328,
        0.00015699589938222847
      ]
    ],
    "position_light": [
      386.613068,
      190.140701,
      448.609039
    ],
    "rotation_matrix_light": [
      [
        0.517950848804448,
        0.386805475520646,
        0.7629603150426627
      ],
      [
        0.6113058116022897,
        0.45652343535829093,
        -0.6464453245789086
      ],
      [
        -0.5983578552371633,
        0.8012289791788061,
        2.656975912063153e-07
      ]
    ],
    "servo_angle": [
      [
        145.330802,
        19.468934,
        -81.085617,
        252.419078,
        59.505563,
        -194.884948,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.567846,
        -30.542661,
        -55.529007,
        -253.720265,
        13.134484,
        126.624991,
        0.0
      ]
    ],
    "turn_angle": 728.4012343571627,
    "filename": "scan-0206_light-20_camera-206.png"
  },
  {
    "id": 207,
    "scan_id": "0207",
    "camera_id": 207,
    "light_id": 20,
    "position": [
      -230.562073,
      -136.381149,
      262.595917
    ],
    "rotation_matrix": [
      [
        0.6749583995396626,
        0.7378557802107139,
        -8.062565109695496e-05
      ],
      [
        -6.27769331716932e-05,
        0.00016669581164535652,
        0.9999999841357814
      ],
      [
        0.7378557819451668,
        -0.674958383770544,
        0.00015883306124270247
      ]
    ],
    "position_light": [
      386.613068,
      190.140701,
      448.609039
    ],
    "rotation_matrix_light": [
      [
        0.517950848804448,
        0.386805475520646,
        0.7629603150426627
      ],
      [
        0.6113058116022897,
        0.45652343535829093,
        -0.6464453245789086
      ],
      [
        -0.5983578552371633,
        0.8012289791788061,
        2.656975912063153e-07
      ]
    ],
    "servo_angle": [
      [
        144.81176,
        17.832624,
        -80.108323,
        252.449502,
        58.868148,
        -194.201982,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.567846,
        -30.542661,
        -55.529007,
        -253.720265,
        13.134484,
        126.624991,
        0.0
      ]
    ],
    "turn_angle": 728.4012343571627,
    "filename": "scan-0207_light-20_camera-207.png"
  },
  {
    "id": 208,
    "scan_id": "0208",
    "camera_id": 208,
    "light_id": 20,
    "position": [
      -192.365311,
      -136.381149,
      303.370056
    ],
    "rotation_matrix": [
      [
        0.751653383674188,
        0.6595583271315621,
        -6.263033728881595e-05
      ],
      [
        -6.31409115101067e-05,
        0.00016691536070079227,
        0.9999999840762436
      ],
      [
        0.6595583270828814,
        -0.7516533677505061,
        0.00016710760962712623
      ]
    ],
    "position_light": [
      386.613068,
      190.140701,
      448.609039
    ],
    "rotation_matrix_light": [
      [
        0.517950848804448,
        0.386805475520646,
        0.7629603150426627
      ],
      [
        0.6113058116022897,
        0.45652343535829093,
        -0.6464453245789086
      ],
      [
        -0.5983578552371633,
        0.8012289791788061,
        2.656975912063153e-07
      ]
    ],
    "servo_angle": [
      [
        141.768494,
        9.725787,
        -75.44439,
        252.610331,
        55.216286,
        -190.81053,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.567846,
        -30.542661,
        -55.529007,
        -253.720265,
        13.134484,
        126.624991,
        0.0
      ]
    ],
    "turn_angle": 728.4012343571627,
    "filename": "scan-0208_light-20_camera-208.png"
  },
  {
    "id": 209,
    "scan_id": "0209",
    "camera_id": 209,
    "light_id": 20,
    "position": [
      -189.692276,
      -136.381149,
      305.908539
    ],
    "rotation_matrix": [
      [
        0.7564029600137467,
        0.6541059228197408,
        -6.176226699022846e-05
      ],
      [
        -6.278739056636562e-05,
        0.0001670292689170405,
        0.9999999840794834
      ],
      [
        0.6541059227221429,
        -0.7564029440935293,
        0.00016741103746559238
      ]
    ],
    "position_light": [
      386.613068,
      190.140701,
      448.609039
    ],
    "rotation_matrix_light": [
      [
        0.517950848804448,
        0.386805475520646,
        0.7629603150426627
      ],
      [
        0.6113058116022897,
        0.45652343535829093,
        -0.6464453245789086
      ],
      [
        -0.5983578552371633,
        0.8012289791788061,
        2.656975912063153e-07
      ]
    ],
    "servo_angle": [
      [
        141.540228,
        9.2009,
        -75.152811,
        252.621446,
        54.94734,
        -190.588681,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.567846,
        -30.542661,
        -55.529007,
        -253.720265,
        13.134484,
        126.624991,
        0.0
      ]
    ],
    "turn_angle": 728.4012343571627,
    "filename": "scan-0209_light-20_camera-209.png"
  },
  {
    "id": 210,
    "scan_id": "0210",
    "camera_id": 210,
    "light_id": 21,
    "position": [
      -146.952271,
      -136.381149,
      341.986633
    ],
    "rotation_matrix": [
      [
        0.8235109219934511,
        0.5673004137845681,
        -4.332844960508453e-05
      ],
      [
        -6.257994204333928e-05,
        0.00016721954079318424,
        0.9999999840606881
      ],
      [
        0.5673004119875531,
        -0.8235109061557617,
        0.00017320874522980256
      ]
    ],
    "position_light": [
      470.634033,
      200.716751,
      265.766388
    ],
    "rotation_matrix_light": [
      [
        0.44055161995892894,
        0.5921547709229247,
        0.674734760794775
      ],
      [
        0.40275209783489013,
        0.5413480812882009,
        -0.7380602973844202
      ],
      [
        -0.8023122944596816,
        0.5969045000322936,
        1.9794102812387138e-07
      ]
    ],
    "servo_angle": [
      [
        137.584527,
        1.425404,
        -70.988554,
        252.796198,
        50.371585,
        -187.207485,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.831359,
        -17.639308,
        -45.099914,
        -183.343343,
        27.287917,
        39.94805,
        0.0
      ]
    ],
    "turn_angle": 760.7656505642418,
    "filename": "scan-0210_light-21_camera-210.png"
  },
  {
    "id": 211,
    "scan_id": "0211",
    "camera_id": 211,
    "light_id": 21,
    "position": [
      -118.228851,
      -136.381149,
      362.137604
    ],
    "rotation_matrix": [
      [
        0.8605845600057874,
        0.5093075830135234,
        -3.1057503516451757e-05
      ],
      [
        -6.282880260100043e-05,
        0.00016714261342765102,
        0.9999999840579441
      ],
      [
        0.5093075800851457,
        -0.8605845443349944,
        0.00017583953803124164
      ]
    ],
    "position_light": [
      470.634033,
      200.716751,
      265.766388
    ],
    "rotation_matrix_light": [
      [
        0.44055161995892894,
        0.5921547709229247,
        0.674734760794775
      ],
      [
        0.40275209783489013,
        0.5413480812882009,
        -0.7380602973844202
      ],
      [
        -0.8023122944596816,
        0.5969045000322936,
        1.9794102812387138e-07
      ]
    ],
    "servo_angle": [
      [
        134.569337,
        -3.217387,
        -68.64911,
        252.901107,
        46.971424,
        -185.030131,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.831359,
        -17.639308,
        -45.099914,
        -183.343343,
        27.287917,
        39.94805,
        0.0
      ]
    ],
    "turn_angle": 760.7656505642418,
    "filename": "scan-0211_light-21_camera-211.png"
  },
  {
    "id": 212,
    "scan_id": "0212",
    "camera_id": 212,
    "light_id": 21,
    "position": [
      -101.90654,
      -136.381149,
      372.336029
    ],
    "rotation_matrix": [
      [
        0.8791970457942705,
        0.47645834455291086,
        -2.392753899654876e-05
      ],
      [
        -6.329764340384791e-05,
        0.00016702119001810178,
        0.9999999840486651
      ],
      [
        0.4764583409491703,
        -0.8791970302553471,
        0.00017700322723923634
      ]
    ],
    "position_light": [
      470.634033,
      200.716751,
      265.766388
    ],
    "rotation_matrix_light": [
      [
        0.44055161995892894,
        0.5921547709229247,
        0.674734760794775
      ],
      [
        0.40275209783489013,
        0.5413480812882009,
        -0.7380602973844202
      ],
      [
        -0.8023122944596816,
        0.5969045000322936,
        1.9794102812387138e-07
      ]
    ],
    "servo_angle": [
      [
        132.714099,
        -5.664547,
        -67.464749,
        252.949178,
        44.909463,
        -183.794949,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.831359,
        -17.639308,
        -45.099914,
        -183.343343,
        27.287917,
        39.94805,
        0.0
      ]
    ],
    "turn_angle": 760.7656505642418,
    "filename": "scan-0212_light-21_camera-212.png"
  },
  {
    "id": 213,
    "scan_id": "0213",
    "camera_id": 213,
    "light_id": 21,
    "position": [
      -66.060585,
      -136.381149,
      391.896545
    ],
    "rotation_matrix": [
      [
        0.914512934271611,
        0.40455666223328235,
        -9.622591178481965e-06
      ],
      [
        -6.309486781810869e-05,
        0.0001664134347960644,
        0.9999999841628031
      ],
      [
        0.4045566574275673,
        -0.9145129191811534,
        0.0001777126876861823
      ]
    ],
    "position_light": [
      470.634033,
      200.716751,
      265.766388
    ],
    "rotation_matrix_light": [
      [
        0.44055161995892894,
        0.5921547709229247,
        0.674734760794775
      ],
      [
        0.40275209783489013,
        0.5413480812882009,
        -0.7380602973844202
      ],
      [
        -0.8023122944596816,
        0.5969045000322936,
        1.9794102812387138e-07
      ]
    ],
    "servo_angle": [
      [
        128.248581,
        -10.565972,
        -65.209301,
        252.993411,
        40.023566,
        -181.010488,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.831359,
        -17.639308,
        -45.099914,
        -183.343343,
        27.287917,
        39.94805,
        0.0
      ]
    ],
    "turn_angle": 760.7656505642418,
    "filename": "scan-0213_light-21_camera-213.png"
  },
  {
    "id": 214,
    "scan_id": "0214",
    "camera_id": 214,
    "light_id": 21,
    "position": [
      -28.908026,
      -136.381149,
      408.467621
    ],
    "rotation_matrix": [
      [
        0.9438599468340474,
        0.330345880463893,
        4.792115146950993e-06
      ],
      [
        -6.324162743065465e-05,
        0.00016618679777730128,
        0.9999999841912222
      ],
      [
        0.3303458744451422,
        -0.9438599322158365,
        0.00017774867321013188
      ]
    ],
    "position_light": [
      470.634033,
      200.716751,
      265.766388
    ],
    "rotation_matrix_light": [
      [
        0.44055161995892894,
        0.5921547709229247,
        0.674734760794775
      ],
      [
        0.40275209783489013,
        0.5413480812882009,
        -0.7380602973844202
      ],
      [
        -0.8023122944596816,
        0.5969045000322936,
        1.9794102812387138e-07
      ]
    ],
    "servo_angle": [
      [
        123.015929,
        -14.950532,
        -63.359965,
        252.861172,
        34.410642,
        -177.87343,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.831359,
        -17.639308,
        -45.099914,
        -183.343343,
        27.287917,
        39.94805,
        0.0
      ]
    ],
    "turn_angle": 760.7656505642418,
    "filename": "scan-0214_light-21_camera-214.png"
  },
  {
    "id": 215,
    "scan_id": "0215",
    "camera_id": 215,
    "light_id": 21,
    "position": [
      0.914949,
      -136.381149,
      419.303375
    ],
    "rotation_matrix": [
      [
        0.9625841570303826,
        0.27098291534280333,
        1.5047346709012865e-05
      ],
      [
        -6.25641790074627e-05,
        0.00016671139943480462,
        0.9999999841465161
      ],
      [
        0.2709829085382158,
        -0.9625841427114952,
        0.00017742757551586497
      ]
    ],
    "position_light": [
      470.634033,
      200.716751,
      265.766388
    ],
    "rotation_matrix_light": [
      [
        0.44055161995892894,
        0.5921547709229247,
        0.674734760794775
      ],
      [
        0.40275209783489013,
        0.5413480812882009,
        -0.7380602973844202
      ],
      [
        -0.8023122944596816,
        0.5969045000322936,
        1.9794102812387138e-07
      ]
    ],
    "servo_angle": [
      [
        118.358871,
        -17.929339,
        -62.245791,
        252.494135,
        29.494721,
        -175.003198,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.831359,
        -17.639308,
        -45.099914,
        -183.343343,
        27.287917,
        39.94805,
        0.0
      ]
    ],
    "turn_angle": 760.7656505642418,
    "filename": "scan-0215_light-21_camera-215.png"
  },
  {
    "id": 216,
    "scan_id": "0216",
    "camera_id": 216,
    "light_id": 21,
    "position": [
      21.600687,
      -136.381149,
      425.615387
    ],
    "rotation_matrix": [
      [
        0.9732121699999889,
        0.22990883328099374,
        2.33084735875716e-05
      ],
      [
        -6.325495799139325e-05,
        0.0001663790867268422,
        0.9999999841584047
      ],
      [
        0.2299088257608285,
        -0.9732121560571322,
        0.00017646502562712607
      ]
    ],
    "position_light": [
      470.634033,
      200.716751,
      265.766388
    ],
    "rotation_matrix_light": [
      [
        0.44055161995892894,
        0.5921547709229247,
        0.674734760794775
      ],
      [
        0.40275209783489013,
        0.5413480812882009,
        -0.7380602973844202
      ],
      [
        -0.8023122944596816,
        0.5969045000322936,
        1.9794102812387138e-07
      ]
    ],
    "servo_angle": [
      [
        114.90004,
        -19.692445,
        -61.683261,
        252.003626,
        25.882394,
        -172.717669,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.831359,
        -17.639308,
        -45.099914,
        -183.343343,
        27.287917,
        39.94805,
        0.0
      ]
    ],
    "turn_angle": 760.7656505642418,
    "filename": "scan-0216_light-21_camera-216.png"
  },
  {
    "id": 217,
    "scan_id": "0217",
    "camera_id": 217,
    "light_id": 21,
    "position": [
      63.710472,
      -136.381149,
      435.585785
    ],
    "rotation_matrix": [
      [
        0.989204977079553,
        0.14653843135745076,
        3.816201273006137e-05
      ],
      [
        -6.331032908059309e-05,
        0.00016695197484167812,
        0.9999999840594203
      ],
      [
        0.1465384226503198,
        -0.9892049637271014,
        0.00017442712075882438
      ]
    ],
    "position_light": [
      470.634033,
      200.716751,
      265.766388
    ],
    "rotation_matrix_light": [
      [
        0.44055161995892894,
        0.5921547709229247,
        0.674734760794775
      ],
      [
        0.40275209783489013,
        0.5413480812882009,
        -0.7380602973844202
      ],
      [
        -0.8023122944596816,
        0.5969045000322936,
        1.9794102812387138e-07
      ]
    ],
    "servo_angle": [
      [
        107.38375,
        -22.445622,
        -61.168115,
        249.915023,
        18.118301,
        -166.811334,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.831359,
        -17.639308,
        -45.099914,
        -183.343343,
        27.287917,
        39.94805,
        0.0
      ]
    ],
    "turn_angle": 760.7656505642418,
    "filename": "scan-0217_light-21_camera-217.png"
  },
  {
    "id": 218,
    "scan_id": "0218",
    "camera_id": 218,
    "light_id": 21,
    "position": [
      88.88575,
      -136.381149,
      439.777771
    ],
    "rotation_matrix": [
      [
        0.9952994756630624,
        0.09684498752392717,
        4.622037597905998e-05
      ],
      [
        -6.271022302922064e-05,
        0.00016722679481784297,
        0.9999999840513132
      ],
      [
        0.0968449782500915,
        -0.9952994626878331,
        0.00017251391196582144
      ]
    ],
    "position_light": [
      470.634033,
      200.716751,
      265.766388
    ],
    "rotation_matrix_light": [
      [
        0.44055161995892894,
        0.5921547709229247,
        0.674734760794775
      ],
      [
        0.40275209783489013,
        0.5413480812882009,
        -0.7380602973844202
      ],
      [
        -0.8023122944596816,
        0.5969045000322936,
        1.9794102812387138e-07
      ]
    ],
    "servo_angle": [
      [
        102.721879,
        -23.508974,
        -61.374208,
        247.421396,
        13.337426,
        -161.926983,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.831359,
        -17.639308,
        -45.099914,
        -183.343343,
        27.287917,
        39.94805,
        0.0
      ]
    ],
    "turn_angle": 760.7656505642418,
    "filename": "scan-0218_light-21_camera-218.png"
  },
  {
    "id": 219,
    "scan_id": "0219",
    "camera_id": 219,
    "light_id": 21,
    "position": [
      122.310616,
      -136.381149,
      443.36734
    ],
    "rotation_matrix": [
      [
        0.9995183581809807,
        0.031033019897531385,
        5.775150832336255e-05
      ],
      [
        -6.29760395699664e-05,
        0.0001673765651224457,
        0.999999984009552
      ],
      [
        0.03103300973505039,
        -0.9995183458351954,
        0.00016925028625813798
      ]
    ],
    "position_light": [
      470.634033,
      200.716751,
      265.766388
    ],
    "rotation_matrix_light": [
      [
        0.44055161995892894,
        0.5921547709229247,
        0.674734760794775
      ],
      [
        0.40275209783489013,
        0.5413480812882009,
        -0.7380602973844202
      ],
      [
        -0.8023122944596816,
        0.5969045000322936,
        1.9794102812387138e-07
      ]
    ],
    "servo_angle": [
      [
        96.716937,
        -24.18558,
        -62.505054,
        241.264334,
        7.140372,
        -152.460116,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.831359,
        -17.639308,
        -45.099914,
        -183.343343,
        27.287917,
        39.94805,
        0.0
      ]
    ],
    "turn_angle": 760.7656505642418,
    "filename": "scan-0219_light-21_camera-219.png"
  },
  {
    "id": 220,
    "scan_id": "0220",
    "camera_id": 220,
    "light_id": 22,
    "position": [
      124.103996,
      -136.381149,
      443.497101
    ],
    "rotation_matrix": [
      [
        0.9995183581809807,
        0.031033019897531385,
        5.775150832336255e-05
      ],
      [
        -6.29760395699664e-05,
        0.0001673765651224457,
        0.999999984009552
      ],
      [
        0.03103300973505039,
        -0.9995183458351954,
        0.00016925028625813798
      ]
    ],
    "position_light": [
      101.897591,
      213.477615,
      188.69223
    ],
    "rotation_matrix_light": [
      [
        0.1299535423715369,
        -0.16900581949901222,
        -0.9770102915530405
      ],
      [
        -0.5955462794509816,
        0.7745151637203054,
        -0.21319214385010224
      ],
      [
        0.792739998900764,
        0.6095599184188348,
        2.0213772367050353e-07
      ]
    ],
    "servo_angle": [
      [
        96.4139,
        -24.197325,
        -62.600853,
        240.796457,
        6.82238,
        -152.011834,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.859776,
        -26.705047,
        -20.481809,
        -102.645561,
        75.822427,
        97.136686,
        0.0
      ]
    ],
    "turn_angle": 772.3011591620547,
    "filename": "scan-0220_light-22_camera-220.png"
  },
  {
    "id": 221,
    "scan_id": "0221",
    "camera_id": 221,
    "light_id": 22,
    "position": [
      155.751404,
      -136.381149,
      444.744812
    ],
    "rotation_matrix": [
      [
        0.9994004393936631,
        -0.03462307064152331,
        6.869574500640782e-05
      ],
      [
        -6.296860993332612e-05,
        0.00016650422321812242,
        0.9999999841556488
      ],
      [
        -0.03462308153107489,
        -0.999400427884487,
        0.0001642242272151262
      ]
    ],
    "position_light": [
      101.897591,
      213.477615,
      188.69223
    ],
    "rotation_matrix_light": [
      [
        0.1299535423715369,
        -0.16900581949901222,
        -0.9770102915530405
      ],
      [
        -0.5955462794509816,
        0.7745151637203054,
        -0.21319214385010224
      ],
      [
        0.792739998900764,
        0.6095599184188348,
        2.0213772367050353e-07
      ]
    ],
    "servo_angle": [
      [
        91.83866,
        -24.013864,
        -64.968085,
        228.981265,
        1.762991,
        -136.674326,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.859776,
        -26.705047,
        -20.481809,
        -102.645561,
        75.822427,
        97.136686,
        0.0
      ]
    ],
    "turn_angle": 772.3011591620547,
    "filename": "scan-0221_light-22_camera-221.png"
  },
  {
    "id": 222,
    "scan_id": "0222",
    "camera_id": 222,
    "light_id": 22,
    "position": [
      203.664764,
      -136.381149,
      442.889008
    ],
    "rotation_matrix": [
      [
        0.9917262398195086,
        -0.12837078440171698,
        8.345984616656144e-05
      ],
      [
        -6.248508635209316e-05,
        0.00016741928626023972,
        0.999999984033198
      ],
      [
        -0.12837079632483397,
        -0.991726229199808,
        0.00015801283968769342
      ]
    ],
    "position_light": [
      101.897591,
      213.477615,
      188.69223
    ],
    "rotation_matrix_light": [
      [
        0.1299535423715369,
        -0.16900581949901222,
        -0.9770102915530405
      ],
      [
        -0.5955462794509816,
        0.7745151637203054,
        -0.21319214385010224
      ],
      [
        0.792739998900764,
        0.6095599184188348,
        2.0213772367050353e-07
      ]
    ],
    "servo_angle": [
      [
        89.968068,
        -23.141078,
        -69.013454,
        195.016384,
        -2.231098,
        -97.398012,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.859776,
        -26.705047,
        -20.481809,
        -102.645561,
        75.822427,
        97.136686,
        0.0
      ]
    ],
    "turn_angle": 772.3011591620547,
    "filename": "scan-0222_light-22_camera-222.png"
  },
  {
    "id": 223,
    "scan_id": "0223",
    "camera_id": 223,
    "light_id": 22,
    "position": [
      226.369904,
      -136.381149,
      440.423462
    ],
    "rotation_matrix": [
      [
        0.9849808923365093,
        -0.17266335295061724,
        9.09935382952809e-05
      ],
      [
        -6.303998248781417e-05,
        0.00016737980667141938,
        0.9999999840049802
      ],
      [
        -0.17266336541934435,
        -0.9849808823179518,
        0.00015398121658799502
      ]
    ],
    "position_light": [
      101.897591,
      213.477615,
      188.69223
    ],
    "rotation_matrix_light": [
      [
        0.1299535423715369,
        -0.16900581949901222,
        -0.9770102915530405
      ],
      [
        -0.5955462794509816,
        0.7745151637203054,
        -0.21319214385010224
      ],
      [
        0.792739998900764,
        0.6095599184188348,
        2.0213772367050353e-07
      ]
    ],
    "servo_angle": [
      [
        90.670055,
        -23.209145,
        -68.726116,
        175.36038,
        -2.03337,
        -75.184038,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.859776,
        -26.705047,
        -20.481809,
        -102.645561,
        75.822427,
        97.136686,
        0.0
      ]
    ],
    "turn_angle": 772.3011591620547,
    "filename": "scan-0223_light-22_camera-223.png"
  },
  {
    "id": 224,
    "scan_id": "0224",
    "camera_id": 224,
    "light_id": 22,
    "position": [
      269.04306,
      -136.381149,
      432.963287
    ],
    "rotation_matrix": [
      [
        0.9667642828517518,
        -0.2556693386083949,
        0.00010342960894915709
      ],
      [
        -6.283587072217212e-05,
        0.00016694270826506097,
        0.9999999840908926
      ],
      [
        -0.255669351807743,
        -0.9667642739704845,
        0.0001453290421247755
      ]
    ],
    "position_light": [
      101.897591,
      213.477615,
      188.69223
    ],
    "rotation_matrix_light": [
      [
        0.1299535423715369,
        -0.16900581949901222,
        -0.9770102915530405
      ],
      [
        -0.5955462794509816,
        0.7745151637203054,
        -0.21319214385010224
      ],
      [
        0.792739998900764,
        0.6095599184188348,
        2.0213772367050353e-07
      ]
    ],
    "servo_angle": [
      [
        89.363368,
        -24.186955,
        -64.175513,
        145.678817,
        1.77531,
        -40.564896,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.859776,
        -26.705047,
        -20.481809,
        -102.645561,
        75.822427,
        97.136686,
        0.0
      ]
    ],
    "turn_angle": 772.3011591620547,
    "filename": "scan-0224_light-22_camera-224.png"
  },
  {
    "id": 225,
    "scan_id": "0225",
    "camera_id": 225,
    "light_id": 22,
    "position": [
      290.272736,
      -136.381149,
      427.83551
    ],
    "rotation_matrix": [
      [
        0.9549256822454784,
        -0.29684495842952674,
        0.0001097405149902142
      ],
      [
        -6.30330709554261e-05,
        0.00016691748857528,
        0.9999999840826921
      ],
      [
        -0.2968449720221652,
        -0.9549256739629137,
        0.00014068274732897956
      ]
    ],
    "position_light": [
      101.897591,
      213.477615,
      188.69223
    ],
    "rotation_matrix_light": [
      [
        0.1299535423715369,
        -0.16900581949901222,
        -0.9770102915530405
      ],
      [
        -0.5955462794509816,
        0.7745151637203054,
        -0.21319214385010224
      ],
      [
        0.792739998900764,
        0.6095599184188348,
        2.0213772367050353e-07
      ]
    ],
    "servo_angle": [
      [
        86.864699,
        -24.558002,
        -61.66189,
        136.440159,
        4.987884,
        -28.910591,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.859776,
        -26.705047,
        -20.481809,
        -102.645561,
        75.822427,
        97.136686,
        0.0
      ]
    ],
    "turn_angle": 772.3011591620547,
    "filename": "scan-0225_light-22_camera-225.png"
  },
  {
    "id": 226,
    "scan_id": "0226",
    "camera_id": 226,
    "light_id": 22,
    "position": [
      334.320129,
      -136.381149,
      414.030609
    ],
    "rotation_matrix": [
      [
        0.9241582902596506,
        -0.3820097376565344,
        0.00012198338100463668
      ],
      [
        -6.284094107805727e-05,
        0.0001672952181370757,
        0.999999984031663
      ],
      [
        -0.38200975196371045,
        -0.9241582831679299,
        0.00013060141134690895
      ]
    ],
    "position_light": [
      101.897591,
      213.477615,
      188.69223
    ],
    "rotation_matrix_light": [
      [
        0.1299535423715369,
        -0.16900581949901222,
        -0.9770102915530405
      ],
      [
        -0.5955462794509816,
        0.7745151637203054,
        -0.21319214385010224
      ],
      [
        0.792739998900764,
        0.6095599184188348,
        2.0213772367050353e-07
      ]
    ],
    "servo_angle": [
      [
        79.595354,
        -24.281837,
        -57.85682,
        125.862899,
        13.125374,
        -13.618175,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.859776,
        -26.705047,
        -20.481809,
        -102.645561,
        75.822427,
        97.136686,
        0.0
      ]
    ],
    "turn_angle": 772.3011591620547,
    "filename": "scan-0226_light-22_camera-226.png"
  },
  {
    "id": 227,
    "scan_id": "0227",
    "camera_id": 227,
    "light_id": 22,
    "position": [
      354.649017,
      -136.381149,
      406.136475
    ],
    "rotation_matrix": [
      [
        0.9069741010705121,
        -0.42118637668041237,
        0.0001268312348386702
      ],
      [
        -6.257474211343594e-05,
        0.0001663813604539932,
        0.9999999842008221
      ],
      [
        -0.4211863911283673,
        -0.9069740946774988,
        0.00012454795593019874
      ]
    ],
    "position_light": [
      101.897591,
      213.477615,
      188.69223
    ],
    "rotation_matrix_light": [
      [
        0.1299535423715369,
        -0.16900581949901222,
        -0.9770102915530405
      ],
      [
        -0.5955462794509816,
        0.7745151637203054,
        -0.21319214385010224
      ],
      [
        0.792739998900764,
        0.6095599184188348,
        2.0213772367050353e-07
      ]
    ],
    "servo_angle": [
      [
        75.877145,
        -23.61033,
        -56.711477,
        123.348875,
        17.182603,
        -9.068661,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.859776,
        -26.705047,
        -20.481809,
        -102.645561,
        75.822427,
        97.136686,
        0.0
      ]
    ],
    "turn_angle": 772.3011591620547,
    "filename": "scan-0227_light-22_camera-227.png"
  },
  {
    "id": 228,
    "scan_id": "0228",
    "camera_id": 228,
    "light_id": 22,
    "position": [
      376.834534,
      -136.381149,
      396.346527
    ],
    "rotation_matrix": [
      [
        0.885917493929167,
        -0.4638428356463111,
        0.00013330361473021246
      ],
      [
        -6.290013683357687e-05,
        0.00016725337775785887,
        0.9999999840349401
      ],
      [
        -0.4638428505365123,
        -0.8859174881702567,
        0.00011899691544298152
      ]
    ],
    "position_light": [
      101.897591,
      213.477615,
      188.69223
    ],
    "rotation_matrix_light": [
      [
        0.1299535423715369,
        -0.16900581949901222,
        -0.9770102915530405
      ],
      [
        -0.5955462794509816,
        0.7745151637203054,
        -0.21319214385010224
      ],
      [
        0.792739998900764,
        0.6095599184188348,
        2.0213772367050353e-07
      ]
    ],
    "servo_angle": [
      [
        71.800779,
        -22.478108,
        -55.812334,
        121.568294,
        21.65643,
        -5.166246,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.859776,
        -26.705047,
        -20.481809,
        -102.645561,
        75.822427,
        97.136686,
        0.0
      ]
    ],
    "turn_angle": 772.3011591620547,
    "filename": "scan-0228_light-22_camera-228.png"
  },
  {
    "id": 229,
    "scan_id": "0229",
    "camera_id": 229,
    "light_id": 22,
    "position": [
      406.622345,
      -136.381149,
      381.133667
    ],
    "rotation_matrix": [
      [
        0.8535921487298033,
        -0.520941862194114,
        0.00014085654534012892
      ],
      [
        -6.316749240481423e-05,
        0.0001668847789650374,
        0.9999999840796692
      ],
      [
        -0.5209418774073605,
        -0.8535921440378886,
        0.00010954494594356268
      ]
    ],
    "position_light": [
      101.897591,
      213.477615,
      188.69223
    ],
    "rotation_matrix_light": [
      [
        0.1299535423715369,
        -0.16900581949901222,
        -0.9770102915530405
      ],
      [
        -0.5955462794509816,
        0.7745151637203054,
        -0.21319214385010224
      ],
      [
        0.792739998900764,
        0.6095599184188348,
        2.0213772367050353e-07
      ]
    ],
    "servo_angle": [
      [
        66.470782,
        -20.307572,
        -55.092871,
        120.187982,
        27.600637,
        -1.098303,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.859776,
        -26.705047,
        -20.481809,
        -102.645561,
        75.822427,
        97.136686,
        0.0
      ]
    ],
    "turn_angle": 772.3011591620547,
    "filename": "scan-0229_light-22_camera-229.png"
  },
  {
    "id": 230,
    "scan_id": "0230",
    "camera_id": 230,
    "light_id": 23,
    "position": [
      449.538177,
      -136.381149,
      354.553894
    ],
    "rotation_matrix": [
      [
        0.7978831066312322,
        -0.6028121808439298,
        0.0001509260717106331
      ],
      [
        -6.302766065524601e-05,
        0.00016694646660825319,
        0.9999999840781956
      ],
      [
        -0.6028121964426465,
        -0.7978831034400106,
        9.520992384542959e-05
      ]
    ],
    "position_light": [
      248.56839,
      221.538773,
      122.756676
    ],
    "rotation_matrix_light": [
      [
        0.15669627799846192,
        0.2881587326611177,
        0.9446749818072709
      ],
      [
        0.4512907065679914,
        0.8299081391443006,
        -0.32800789433702304
      ],
      [
        -0.8785117953828464,
        0.4777206562136319,
        1.5841816874972992e-07
      ]
    ],
    "servo_angle": [
      [
        59.33167,
        -15.882447,
        -54.913421,
        119.355932,
        35.823269,
        3.297544,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -100.451133,
        -17.749774,
        -15.472783,
        -261.898378,
        85.460551,
        61.477397,
        0.0
      ]
    ],
    "turn_angle": 792.0902850124496,
    "filename": "scan-0230_light-23_camera-230.png"
  },
  {
    "id": 231,
    "scan_id": "0231",
    "camera_id": 231,
    "light_id": 23,
    "position": [
      474.335449,
      -136.381149,
      336.311646
    ],
    "rotation_matrix": [
      [
        0.7600410825490835,
        -0.6498750097495689,
        0.00015665444397000572
      ],
      [
        -6.308938333016156e-05,
        0.00016726896192703622,
        0.9999999840204119
      ],
      [
        -0.6498750255682602,
        -0.7600410802871724,
        8.613106929306058e-05
      ]
    ],
    "position_light": [
      248.56839,
      221.538773,
      122.756676
    ],
    "rotation_matrix_light": [
      [
        0.15669627799846192,
        0.2881587326611177,
        0.9446749818072709
      ],
      [
        0.4512907065679914,
        0.8299081391443006,
        -0.32800789433702304
      ],
      [
        -0.8785117953828464,
        0.4777206562136319,
        1.5841816874972992e-07
      ]
    ],
    "servo_angle": [
      [
        55.563614,
        -12.62438,
        -55.245221,
        119.214927,
        40.331072,
        5.354864,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -100.451133,
        -17.749774,
        -15.472783,
        -261.898378,
        85.460551,
        61.477397,
        0.0
      ]
    ],
    "turn_angle": 792.0902850124496,
    "filename": "scan-0231_light-23_camera-231.png"
  },
  {
    "id": 232,
    "scan_id": "0232",
    "camera_id": 232,
    "light_id": 23,
    "position": [
      498.403076,
      -136.381149,
      316.236389
    ],
    "rotation_matrix": [
      [
        0.7186676420302253,
        -0.6953537189068066,
        0.00016093846652920352
      ],
      [
        -6.252743631390834e-05,
        0.0001668244745128833,
        0.9999999841299572
      ],
      [
        -0.6953537347199883,
        -0.7186676406880086,
        7.641266635649568e-05
      ]
    ],
    "position_light": [
      248.56839,
      221.538773,
      122.756676
    ],
    "rotation_matrix_light": [
      [
        0.15669627799846192,
        0.2881587326611177,
        0.9446749818072709
      ],
      [
        0.4512907065679914,
        0.8299081391443006,
        -0.32800789433702304
      ],
      [
        -0.8785117953828464,
        0.4777206562136319,
        1.5841816874972992e-07
      ]
    ],
    "servo_angle": [
      [
        52.169412,
        -8.95556,
        -55.878511,
        119.207078,
        44.52455,
        7.149425,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -100.451133,
        -17.749774,
        -15.472783,
        -261.898378,
        85.460551,
        61.477397,
        0.0
      ]
    ],
    "turn_angle": 792.0902850124496,
    "filename": "scan-0232_light-23_camera-232.png"
  },
  {
    "id": 233,
    "scan_id": "0233",
    "camera_id": 233,
    "light_id": 23,
    "position": [
      534.608276,
      -136.381149,
      280.725983
    ],
    "rotation_matrix": [
      [
        0.646020400505229,
        -0.7633201255575052,
        0.00016748115781295425
      ],
      [
        -6.26674674432115e-05,
        0.0001663740919408685,
        0.9999999841962249
      ],
      [
        -0.7633201413586911,
        -0.6460204007912879,
        5.964571839223165e-05
      ]
    ],
    "position_light": [
      248.56839,
      221.538773,
      122.756676
    ],
    "rotation_matrix_light": [
      [
        0.15669627799846192,
        0.2881587326611177,
        0.9446749818072709
      ],
      [
        0.4512907065679914,
        0.8299081391443006,
        -0.32800789433702304
      ],
      [
        -0.8785117953828464,
        0.4777206562136319,
        1.5841816874972992e-07
      ]
    ],
    "servo_angle": [
      [
        47.540199,
        -2.422924,
        -57.461765,
        119.327972,
        50.512876,
        9.655599,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -100.451133,
        -17.749774,
        -15.472783,
        -261.898378,
        85.460551,
        61.477397,
        0.0
      ]
    ],
    "turn_angle": 792.0902850124496,
    "filename": "scan-0233_light-23_camera-233.png"
  },
  {
    "id": 234,
    "scan_id": "0234",
    "camera_id": 234,
    "light_id": 23,
    "position": [
      540.736084,
      -136.381149,
      273.96582
    ],
    "rotation_matrix": [
      [
        0.6322549835097934,
        -0.7747603547391155,
        0.00016897204196930637
      ],
      [
        -6.259012982556822e-05,
        0.0001670182489196259,
        0.9999999840936901
      ],
      [
        -0.7747603706369517,
        -0.6322549840289317,
        5.71057690296195e-05
      ]
    ],
    "position_light": [
      248.56839,
      221.538773,
      122.756676
    ],
    "rotation_matrix_light": [
      [
        0.15669627799846192,
        0.2881587326611177,
        0.9446749818072709
      ],
      [
        0.4512907065679914,
        0.8299081391443006,
        -0.32800789433702304
      ],
      [
        -0.8785117953828464,
        0.4777206562136319,
        1.5841816874972992e-07
      ]
    ],
    "servo_angle": [
      [
        46.810881,
        -1.184762,
        -57.813275,
        119.357823,
        51.492118,
        10.07277,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -100.451133,
        -17.749774,
        -15.472783,
        -261.898378,
        85.460551,
        61.477397,
        0.0
      ]
    ],
    "turn_angle": 792.0902850124496,
    "filename": "scan-0234_light-23_camera-234.png"
  },
  {
    "id": 235,
    "scan_id": "0235",
    "camera_id": 235,
    "light_id": 23,
    "position": [
      565.535217,
      -136.381149,
      243.867264
    ],
    "rotation_matrix": [
      [
        0.5711755726883201,
        -0.8208278963058901,
        0.00017265635422419878
      ],
      [
        -6.28339413438761e-05,
        0.00016662096850128538,
        0.9999999841446743
      ],
      [
        -0.8208279120595654,
        -0.5711755744808245,
        4.3593975215694414e-05
      ]
    ],
    "position_light": [
      248.56839,
      221.538773,
      122.756676
    ],
    "rotation_matrix_light": [
      [
        0.15669627799846192,
        0.2881587326611177,
        0.9446749818072709
      ],
      [
        0.4512907065679914,
        0.8299081391443006,
        -0.32800789433702304
      ],
      [
        -0.8785117953828464,
        0.4777206562136319,
        1.5841816874972992e-07
      ]
    ],
    "servo_angle": [
      [
        44.009633,
        4.279594,
        -59.525387,
        119.495276,
        55.371214,
        11.791758,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -100.451133,
        -17.749774,
        -15.472783,
        -261.898378,
        85.460551,
        61.477397,
        0.0
      ]
    ],
    "turn_angle": 792.0902850124496,
    "filename": "scan-0235_light-23_camera-235.png"
  },
  {
    "id": 236,
    "scan_id": "0236",
    "camera_id": 236,
    "light_id": 23,
    "position": [
      589.642883,
      -136.381149,
      209.344345
    ],
    "rotation_matrix": [
      [
        0.5014841121611104,
        -0.8651668362010403,
        0.00017546471396034935
      ],
      [
        -6.268575557460965e-05,
        0.00016647517528195488,
        0.9999999841782564
      ],
      [
        -0.865166851723111,
        -0.5014841152258954,
        2.925101864775792e-05
      ]
    ],
    "position_light": [
      248.56839,
      221.538773,
      122.756676
    ],
    "rotation_matrix_light": [
      [
        0.15669627799846192,
        0.2881587326611177,
        0.9446749818072709
      ],
      [
        0.4512907065679914,
        0.8299081391443006,
        -0.32800789433702304
      ],
      [
        -0.8785117953828464,
        0.4777206562136319,
        1.5841816874972992e-07
      ]
    ],
    "servo_angle": [
      [
        41.501969,
        10.426342,
        -61.725832,
        119.650261,
        59.048457,
        13.592335,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -100.451133,
        -17.749774,
        -15.472783,
        -261.898378,
        85.460551,
        61.477397,
        0.0
      ]
    ],
    "turn_angle": 792.0902850124496,
    "filename": "scan-0236_light-23_camera-236.png"
  },
  {
    "id": 237,
    "scan_id": "0237",
    "camera_id": 237,
    "light_id": 23,
    "position": [
      600.609802,
      -136.381149,
      191.360672
    ],
    "rotation_matrix": [
      [
        0.4653140037768715,
        -0.8851456640554687,
        0.0001768981086220367
      ],
      [
        -6.281795747725694e-05,
        0.00016682907289167215,
        0.9999999841109822
      ],
      [
        -0.885145679503121,
        -0.46531400749586693,
        2.2024861167868615e-05
      ]
    ],
    "position_light": [
      248.56839,
      221.538773,
      122.756676
    ],
    "rotation_matrix_light": [
      [
        0.15669627799846192,
        0.2881587326611177,
        0.9446749818072709
      ],
      [
        0.4512907065679914,
        0.8299081391443006,
        -0.32800789433702304
      ],
      [
        -0.8785117953828464,
        0.4777206562136319,
        1.5841816874972992e-07
      ]
    ],
    "servo_angle": [
      [
        40.425438,
        13.572568,
        -62.951904,
        119.7291,
        60.708717,
        14.492796,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -100.451133,
        -17.749774,
        -15.472783,
        -261.898378,
        85.460551,
        61.477397,
        0.0
      ]
    ],
    "turn_angle": 792.0902850124496,
    "filename": "scan-0237_light-23_camera-237.png"
  },
  {
    "id": 238,
    "scan_id": "0238",
    "camera_id": 238,
    "light_id": 23,
    "position": [
      619.769714,
      -136.381149,
      155.158188
    ],
    "rotation_matrix": [
      [
        0.3927466401153405,
        -0.9196466956101746,
        0.00017869358703775928
      ],
      [
        -6.283723707489752e-05,
        0.0001674713465279476,
        0.9999999840024147
      ],
      [
        -0.9196467108241038,
        -0.39274664506095397,
        7.985751227290727e-06
      ]
    ],
    "position_light": [
      248.56839,
      221.538773,
      122.756676
    ],
    "rotation_matrix_light": [
      [
        0.15669627799846192,
        0.2881587326611177,
        0.9446749818072709
      ],
      [
        0.4512907065679914,
        0.8299081391443006,
        -0.32800789433702304
      ],
      [
        -0.8785117953828464,
        0.4777206562136319,
        1.5841816874972992e-07
      ]
    ],
    "servo_angle": [
      [
        38.631106,
        19.791681,
        -65.556685,
        119.888554,
        63.632406,
        16.274637,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -100.451133,
        -17.749774,
        -15.472783,
        -261.898378,
        85.460551,
        61.477397,
        0.0
      ]
    ],
    "turn_angle": 792.0902850124496,
    "filename": "scan-0238_light-23_camera-238.png"
  },
  {
    "id": 239,
    "scan_id": "0239",
    "camera_id": 239,
    "light_id": 23,
    "position": [
      633.873413,
      -136.381149,
      122.887894
    ],
    "rotation_matrix": [
      [
        0.3283123443094992,
        -0.9445691994231495,
        0.00017909525513826186
      ],
      [
        -6.303717612060611e-05,
        0.0001676948277480883,
        0.999999983952379
      ],
      [
        -0.9445692142984093,
        -0.32831235033052647,
        -4.486692955607552e-06
      ]
    ],
    "position_light": [
      248.56839,
      221.538773,
      122.756676
    ],
    "rotation_matrix_light": [
      [
        0.15669627799846192,
        0.2881587326611177,
        0.9446749818072709
      ],
      [
        0.4512907065679914,
        0.8299081391443006,
        -0.32800789433702304
      ],
      [
        -0.8785117953828464,
        0.4777206562136319,
        1.5841816874972992e-07
      ]
    ],
    "servo_angle": [
      [
        37.371688,
        25.214784,
        -68.011981,
        120.038669,
        65.855769,
        17.861501,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -100.451133,
        -17.749774,
        -15.472783,
        -261.898378,
        85.460551,
        61.477397,
        0.0
      ]
    ],
    "turn_angle": 792.0902850124496,
    "filename": "scan-0239_light-23_camera-239.png"
  },
  {
    "id": 240,
    "scan_id": "0240",
    "camera_id": 240,
    "light_id": 24,
    "position": [
      630.335876,
      -136.381149,
      131.575592
    ],
    "rotation_matrix": [
      [
        0.3456367902561452,
        -0.9383683590874419,
        0.00017856363372731332
      ],
      [
        -6.290691075694355e-05,
        0.00016712060529622264,
        0.9999999840567119
      ],
      [
        -0.9383683739684272,
        -0.3456367959784449,
        -1.2668250219394217e-06
      ]
    ],
    "position_light": [
      224.381836,
      221.444855,
      124.553749
    ],
    "rotation_matrix_light": [
      [
        0.12914935013479134,
        0.23136810080496006,
        0.964255799717931
      ],
      [
        0.4699830314711826,
        0.8419650808785659,
        -0.2649731169577529
      ],
      [
        -0.8731760392320199,
        0.4874049697233866,
        1.6162960858601139e-07
      ]
    ],
    "servo_angle": [
      [
        37.68332,
        23.765258,
        -67.339558,
        119.997015,
        65.288025,
        17.432814,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.365931,
        -15.449578,
        -17.871585,
        -270.809247,
        91.292746,
        62.479042,
        0.0
      ]
    ],
    "turn_angle": 802.2378437543113,
    "filename": "scan-0240_light-24_camera-240.png"
  },
  {
    "id": 241,
    "scan_id": "0241",
    "camera_id": 241,
    "light_id": 24,
    "position": [
      615.712646,
      -136.381149,
      163.437729
    ],
    "rotation_matrix": [
      [
        0.40931514746512515,
        -0.9123930501895556,
        0.00017894524819284108
      ],
      [
        -6.303774763999348e-05,
        0.00016784755244864114,
        0.9999999839267206
      ],
      [
        -0.9123930655599293,
        -0.4093151521663938,
        1.1187342835838887e-05
      ]
    ],
    "position_light": [
      224.381836,
      221.444855,
      124.553749
    ],
    "rotation_matrix_light": [
      [
        0.12914935013479134,
        0.23136810080496006,
        0.964255799717931
      ],
      [
        0.4699830314711826,
        0.8419650808785659,
        -0.2649731169577529
      ],
      [
        -0.8731760392320199,
        0.4874049697233866,
        1.6162960858601139e-07
      ]
    ],
    "servo_angle": [
      [
        39.002498,
        18.382491,
        -64.946198,
        119.851598,
        63.007596,
        15.868639,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.365931,
        -15.449578,
        -17.871585,
        -270.809247,
        91.292746,
        62.479042,
        0.0
      ]
    ],
    "turn_angle": 802.2378437543113,
    "filename": "scan-0241_light-24_camera-241.png"
  },
  {
    "id": 242,
    "scan_id": "0242",
    "camera_id": 242,
    "light_id": 24,
    "position": [
      598.766418,
      -136.381149,
      194.503174
    ],
    "rotation_matrix": [
      [
        0.4716282031656265,
        -0.8817974862921218,
        0.00017648699033362414
      ],
      [
        -6.27237635974498e-05,
        0.00016659685914255373,
        0.999999984155608
      ],
      [
        -0.8817975017227551,
        -0.4716282067628926,
        2.3262120259437413e-05
      ]
    ],
    "position_light": [
      224.381836,
      221.444855,
      124.553749
    ],
    "rotation_matrix_light": [
      [
        0.12914935013479134,
        0.23136810080496006,
        0.964255799717931
      ],
      [
        0.4699830314711826,
        0.8419650808785659,
        -0.2649731169577529
      ],
      [
        -0.8731760392320199,
        0.4874049697233866,
        1.6162960858601139e-07
      ]
    ],
    "servo_angle": [
      [
        40.6038,
        13.025565,
        -62.73418,
        119.715406,
        60.429572,
        14.33655,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.365931,
        -15.449578,
        -17.871585,
        -270.809247,
        91.292746,
        62.479042,
        0.0
      ]
    ],
    "turn_angle": 802.2378437543113,
    "filename": "scan-0242_light-24_camera-242.png"
  },
  {
    "id": 243,
    "scan_id": "0243",
    "camera_id": 243,
    "light_id": 24,
    "position": [
      579.370972,
      -136.381149,
      224.80304
    ],
    "rotation_matrix": [
      [
        0.5326463459024422,
        -0.8463378991722977,
        0.0001749897061315564
      ],
      [
        -6.28531803208432e-05,
        0.0001672041233791166,
        0.9999999840461291
      ],
      [
        -0.8463379149289327,
        -0.5326463484033308,
        3.586563674862209e-05
      ]
    ],
    "position_light": [
      224.381836,
      221.444855,
      124.553749
    ],
    "rotation_matrix_light": [
      [
        0.12914935013479134,
        0.23136810080496006,
        0.964255799717931
      ],
      [
        0.4699830314711826,
        0.8419650808785659,
        -0.2649731169577529
      ],
      [
        -0.8731760392320199,
        0.4874049697233866,
        1.6162960858601139e-07
      ]
    ],
    "servo_angle": [
      [
        42.545841,
        7.691156,
        -60.71353,
        119.58162,
        57.48921,
        12.801252,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.365931,
        -15.449578,
        -17.871585,
        -270.809247,
        91.292746,
        62.479042,
        0.0
      ]
    ],
    "turn_angle": 802.2378437543113,
    "filename": "scan-0243_light-24_camera-243.png"
  },
  {
    "id": 244,
    "scan_id": "0244",
    "camera_id": 244,
    "light_id": 24,
    "position": [
      562.277283,
      -136.381149,
      248.09874
    ],
    "rotation_matrix": [
      [
        0.579743883168369,
        -0.8147987484067538,
        0.0001718244673681868
      ],
      [
        -6.26129043618806e-05,
        0.00016632943608269057,
        0.9999999842070713
      ],
      [
        -0.8147987641181621,
        -0.5797438847709442,
        4.541155705156674e-05
      ]
    ],
    "position_light": [
      224.381836,
      221.444855,
      124.553749
    ],
    "rotation_matrix_light": [
      [
        0.12914935013479134,
        0.23136810080496006,
        0.964255799717931
      ],
      [
        0.4699830314711826,
        0.8419650808785659,
        -0.2649731169577529
      ],
      [
        -0.8731760392320199,
        0.4874049697233866,
        1.6162960858601139e-07
      ]
    ],
    "servo_angle": [
      [
        44.364351,
        3.516872,
        -59.271739,
        119.47591,
        54.868387,
        11.560856,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.365931,
        -15.449578,
        -17.871585,
        -270.809247,
        91.292746,
        62.479042,
        0.0
      ]
    ],
    "turn_angle": 802.2378437543113,
    "filename": "scan-0244_light-24_camera-244.png"
  },
  {
    "id": 245,
    "scan_id": "0245",
    "camera_id": 245,
    "light_id": 24,
    "position": [
      544.125854,
      -136.381149,
      270.119598
    ],
    "rotation_matrix": [
      [
        0.6244313711206317,
        -0.7810796591013123,
        0.00016999584019111724
      ],
      [
        -6.306894482766001e-05,
        0.00016722188096995882,
        0.9999999840295752
      ],
      [
        -0.7810796750541624,
        -0.6244313718696557,
        5.5156718489546286e-05
      ]
    ],
    "position_light": [
      224.381836,
      221.444855,
      124.553749
    ],
    "rotation_matrix_light": [
      [
        0.12914935013479134,
        0.23136810080496006,
        0.964255799717931
      ],
      [
        0.4699830314711826,
        0.8419650808785659,
        -0.2649731169577529
      ],
      [
        -0.8731760392320199,
        0.4874049697233866,
        1.6162960858601139e-07
      ]
    ],
    "servo_angle": [
      [
        46.413936,
        -0.4818,
        -58.019196,
        119.375126,
        52.029954,
        10.304073,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.365931,
        -15.449578,
        -17.871585,
        -270.809247,
        91.292746,
        62.479042,
        0.0
      ]
    ],
    "turn_angle": 802.2378437543113,
    "filename": "scan-0245_light-24_camera-245.png"
  },
  {
    "id": 246,
    "scan_id": "0246",
    "camera_id": 246,
    "light_id": 24,
    "position": [
      522.801208,
      -136.381149,
      293.096527
    ],
    "rotation_matrix": [
      [
        0.6712606976678392,
        -0.7412213219844637,
        0.00016613876629134605
      ],
      [
        -6.31008105484443e-05,
        0.00016699690883198448,
        0.9999999840651598
      ],
      [
        -0.7412213379178808,
        -0.6712606974548981,
        6.532679531795482e-05
      ]
    ],
    "position_light": [
      224.381836,
      221.444855,
      124.553749
    ],
    "rotation_matrix_light": [
      [
        0.12914935013479134,
        0.23136810080496006,
        0.964255799717931
      ],
      [
        0.4699830314711826,
        0.8419650808785659,
        -0.2649731169577529
      ],
      [
        -0.8731760392320199,
        0.4874049697233866,
        1.6162960858601139e-07
      ]
    ],
    "servo_angle": [
      [
        48.988751,
        -4.69579,
        -56.855977,
        119.276692,
        48.599541,
        8.850937,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.365931,
        -15.449578,
        -17.871585,
        -270.809247,
        91.292746,
        62.479042,
        0.0
      ]
    ],
    "turn_angle": 802.2378437543113,
    "filename": "scan-0246_light-24_camera-246.png"
  },
  {
    "id": 247,
    "scan_id": "0247",
    "camera_id": 247,
    "light_id": 24,
    "position": [
      503.358154,
      -136.381149,
      311.779785
    ],
    "rotation_matrix": [
      [
        0.7095154265944454,
        -0.7046898842868177,
        0.00016250641066062332
      ],
      [
        -6.314285625397265e-05,
        0.00016703173992266285,
        0.9999999840566887
      ],
      [
        -0.704689900195456,
        -0.709515425543539,
        7.401546413893234e-05
      ]
    ],
    "position_light": [
      224.381836,
      221.444855,
      124.553749
    ],
    "rotation_matrix_light": [
      [
        0.12914935013479134,
        0.23136810080496006,
        0.964255799717931
      ],
      [
        0.4699830314711826,
        0.8419650808785659,
        -0.2649731169577529
      ],
      [
        -0.8731760392320199,
        0.4874049697233866,
        1.6162960858601139e-07
      ]
    ],
    "servo_angle": [
      [
        51.502546,
        -8.135886,
        -56.04868,
        119.216188,
        45.366053,
        7.501966,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.365931,
        -15.449578,
        -17.871585,
        -270.809247,
        91.292746,
        62.479042,
        0.0
      ]
    ],
    "turn_angle": 802.2378437543113,
    "filename": "scan-0247_light-24_camera-247.png"
  },
  {
    "id": 248,
    "scan_id": "0248",
    "camera_id": 248,
    "light_id": 24,
    "position": [
      479.138,
      -136.381149,
      332.503143
    ],
    "rotation_matrix": [
      [
        0.7521715702294278,
        -0.6589673011363937,
        0.00015802409304127574
      ],
      [
        -6.318444057828998e-05,
        0.00016768442141174011,
        0.9999999839448304
      ],
      [
        -0.6589673170547405,
        -0.7521715681378498,
        8.449097427459806e-05
      ]
    ],
    "position_light": [
      224.381836,
      221.444855,
      124.553749
    ],
    "rotation_matrix_light": [
      [
        0.12914935013479134,
        0.23136810080496006,
        0.964255799717931
      ],
      [
        0.4699830314711826,
        0.8419650808785659,
        -0.2649731169577529
      ],
      [
        -0.8731760392320199,
        0.4874049697233866,
        1.6162960858601139e-07
      ]
    ],
    "servo_angle": [
      [
        54.865636,
        -11.932877,
        -55.346634,
        119.205187,
        41.182086,
        5.725968,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.365931,
        -15.449578,
        -17.871585,
        -270.809247,
        91.292746,
        62.479042,
        0.0
      ]
    ],
    "turn_angle": 802.2378437543113,
    "filename": "scan-0248_light-24_camera-248.png"
  },
  {
    "id": 249,
    "scan_id": "0249",
    "camera_id": 249,
    "light_id": 24,
    "position": [
      451.340607,
      -136.381149,
      353.304291
    ],
    "rotation_matrix": [
      [
        0.7952818348703767,
        -0.6062398702022962,
        0.00015133509157994052
      ],
      [
        -6.282217682879176e-05,
        0.0001672172321374732,
        0.9999999840458855
      ],
      [
        -0.606239885836111,
        -0.7952818316895591,
        9.48995188697066e-05
      ]
    ],
    "position_light": [
      224.381836,
      221.444855,
      124.553749
    ],
    "rotation_matrix_light": [
      [
        0.12914935013479134,
        0.23136810080496006,
        0.964255799717931
      ],
      [
        0.4699830314711826,
        0.8419650808785659,
        -0.2649731169577529
      ],
      [
        -0.8731760392320199,
        0.4874049697233866,
        1.6162960858601139e-07
      ]
    ],
    "servo_angle": [
      [
        59.048629,
        -15.663062,
        -54.926828,
        119.339546,
        36.157304,
        3.456368,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.365931,
        -15.449578,
        -17.871585,
        -270.809247,
        91.292746,
        62.479042,
        0.0
      ]
    ],
    "turn_angle": 802.2378437543113,
    "filename": "scan-0249_light-24_camera-249.png"
  },
  {
    "id": 250,
    "scan_id": "0250",
    "camera_id": 250,
    "light_id": 25,
    "position": [
      412.827515,
      -136.381149,
      377.646667
    ],
    "rotation_matrix": [
      [
        0.846235264286004,
        -0.5328094005928907,
        0.00014184019657109692
      ],
      [
        -6.262306853338506e-05,
        0.00016675070911165157,
        0.9999999841362759
      ],
      [
        -0.532809415792503,
        -0.8462352597440297,
        0.00010774417078640575
      ]
    ],
    "position_light": [
      59.071865,
      216.465607,
      168.07872
    ],
    "rotation_matrix_light": [
      [
        0.1845796125560955,
        -0.27027697844597837,
        -0.9449236591126045
      ],
      [
        -0.5329006490774026,
        0.7803189218285504,
        -0.32729081632274865
      ],
      [
        0.8258009837978666,
        0.5639616433397224,
        1.870167630202424e-07
      ]
    ],
    "servo_angle": [
      [
        65.394251,
        -19.762288,
        -55.006641,
        120.001427,
        28.818746,
        -0.374714,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.166737,
        -22.787849,
        -20.935477,
        -119.24581,
        64.485426,
        109.087497,
        0.0
      ]
    ],
    "turn_angle": 847.2100029686975,
    "filename": "scan-0250_light-25_camera-250.png"
  },
  {
    "id": 251,
    "scan_id": "0251",
    "camera_id": 251,
    "light_id": 25,
    "position": [
      388.601074,
      -136.381149,
      390.630737
    ],
    "rotation_matrix": [
      [
        0.8737239782958245,
        -0.48642202988343197,
        0.00013636348001636045
      ],
      [
        -6.290361083002849e-05,
        0.00016735073605322892,
        0.999999984018433
      ],
      [
        -0.4864220449301746,
        -0.8737239729101018,
        0.00011562064880821232
      ]
    ],
    "position_light": [
      59.071865,
      216.465607,
      168.07872
    ],
    "rotation_matrix_light": [
      [
        0.1845796125560955,
        -0.27027697844597837,
        -0.9449236591126045
      ],
      [
        -0.5329006490774026,
        0.7803189218285504,
        -0.32729081632274865
      ],
      [
        0.8258009837978666,
        0.5639616433397224,
        1.870167630202424e-07
      ]
    ],
    "servo_angle": [
      [
        69.667485,
        -21.709428,
        -55.46558,
        120.912315,
        24.019938,
        -3.426689,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.166737,
        -22.787849,
        -20.935477,
        -119.24581,
        64.485426,
        109.087497,
        0.0
      ]
    ],
    "turn_angle": 847.2100029686975,
    "filename": "scan-0251_light-25_camera-251.png"
  },
  {
    "id": 252,
    "scan_id": "0252",
    "camera_id": 252,
    "light_id": 25,
    "position": [
      368.65213,
      -136.381149,
      400.104401
    ],
    "rotation_matrix": [
      [
        0.893971737927586,
        -0.4481233253436594,
        0.00013065095514883107
      ],
      [
        -6.258263134142905e-05,
        0.00016670377360050725,
        0.9999999841466328
      ],
      [
        -0.4481233400194031,
        -0.8939717319316044,
        0.00012098372533930757
      ]
    ],
    "position_light": [
      59.071865,
      216.465607,
      168.07872
    ],
    "rotation_matrix_light": [
      [
        0.1845796125560955,
        -0.27027697844597837,
        -0.9449236591126045
      ],
      [
        -0.5329006490774026,
        0.7803189218285504,
        -0.32729081632274865
      ],
      [
        0.8258009837978666,
        0.5639616433397224,
        1.870167630202424e-07
      ]
    ],
    "servo_angle": [
      [
        73.299178,
        -22.944095,
        -56.104944,
        122.131798,
        20.006483,
        -6.500321,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.166737,
        -22.787849,
        -20.935477,
        -119.24581,
        64.485426,
        109.087497,
        0.0
      ]
    ],
    "turn_angle": 847.2100029686975,
    "filename": "scan-0252_light-25_camera-252.png"
  },
  {
    "id": 253,
    "scan_id": "0253",
    "camera_id": 253,
    "light_id": 25,
    "position": [
      329.493835,
      -136.381149,
      415.75946
    ],
    "rotation_matrix": [
      [
        0.9279533640182345,
        -0.3726963102133767,
        0.00012066721386017054
      ],
      [
        -6.309899860879042e-05,
        0.00016666192343928188,
        0.9999999841211596
      ],
      [
        -0.37269632440602146,
        -0.9279533568973916,
        0.0001311377285495574
      ]
    ],
    "position_light": [
      59.071865,
      216.465607,
      168.07872
    ],
    "rotation_matrix_light": [
      [
        0.1845796125560955,
        -0.27027697844597837,
        -0.9449236591126045
      ],
      [
        -0.5329006490774026,
        0.7803189218285504,
        -0.32729081632274865
      ],
      [
        0.8258009837978666,
        0.5639616433397224,
        1.870167630202424e-07
      ]
    ],
    "servo_angle": [
      [
        80.462354,
        -24.389897,
        -58.180025,
        126.626136,
        12.177989,
        -14.877594,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.166737,
        -22.787849,
        -20.935477,
        -119.24581,
        64.485426,
        109.087497,
        0.0
      ]
    ],
    "turn_angle": 847.2100029686975,
    "filename": "scan-0253_light-25_camera-253.png"
  },
  {
    "id": 254,
    "scan_id": "0254",
    "camera_id": 254,
    "light_id": 25,
    "position": [
      291.078308,
      -136.381149,
      427.621857
    ],
    "rotation_matrix": [
      [
        0.954439062482348,
        -0.29840587111233485,
        0.00010997047370903124
      ],
      [
        -6.30009499866524e-05,
        0.00016702052184963678,
        0.9999999840675127
      ],
      [
        -0.298405884725313,
        -0.9544390542040042,
        0.0001406110569278085
      ]
    ],
    "position_light": [
      59.071865,
      216.465607,
      168.07872
    ],
    "rotation_matrix_light": [
      [
        0.1845796125560955,
        -0.27027697844597837,
        -0.9449236591126045
      ],
      [
        -0.5329006490774026,
        0.7803189218285504,
        -0.32729081632274865
      ],
      [
        0.8258009837978666,
        0.5639616433397224,
        1.870167630202424e-07
      ]
    ],
    "servo_angle": [
      [
        86.751769,
        -24.566597,
        -61.574227,
        136.154826,
        5.121956,
        -28.535304,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.166737,
        -22.787849,
        -20.935477,
        -119.24581,
        64.485426,
        109.087497,
        0.0
      ]
    ],
    "turn_angle": 847.2100029686975,
    "filename": "scan-0254_light-25_camera-254.png"
  },
  {
    "id": 255,
    "scan_id": "0255",
    "camera_id": 255,
    "light_id": 25,
    "position": [
      263.082794,
      -136.381149,
      434.231171
    ],
    "rotation_matrix": [
      [
        0.9697514089856252,
        -0.24409464226026195,
        0.00010193247485583423
      ],
      [
        -6.303002215582443e-05,
        0.0001671852362546411,
        0.9999999840381565
      ],
      [
        -0.24409465540566633,
        -0.969751399931411,
        0.0001467428277098226
      ]
    ],
    "position_light": [
      59.071865,
      216.465607,
      168.07872
    ],
    "rotation_matrix_light": [
      [
        0.1845796125560955,
        -0.27027697844597837,
        -0.9449236591126045
      ],
      [
        -0.5329006490774026,
        0.7803189218285504,
        -0.32729081632274865
      ],
      [
        0.8258009837978666,
        0.5639616433397224,
        1.870167630202424e-07
      ]
    ],
    "servo_angle": [
      [
        89.86505,
        -24.044002,
        -64.925228,
        148.929435,
        1.006228,
        -44.5057,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.166737,
        -22.787849,
        -20.935477,
        -119.24581,
        64.485426,
        109.087497,
        0.0
      ]
    ],
    "turn_angle": 847.2100029686975,
    "filename": "scan-0255_light-25_camera-255.png"
  },
  {
    "id": 256,
    "scan_id": "0256",
    "camera_id": 256,
    "light_id": 25,
    "position": [
      228.991776,
      -136.381149,
      440.072205
    ],
    "rotation_matrix": [
      [
        0.9840716880071037,
        -0.17777205761728193,
        9.161532336006417e-05
      ],
      [
        -6.298179229807799e-05,
        0.00016671193235867632,
        0.9999999841202126
      ],
      [
        -0.17777207006766704,
        -0.9840716781503517,
        0.00015286008987785982
      ]
    ],
    "position_light": [
      59.071865,
      216.465607,
      168.07872
    ],
    "rotation_matrix_light": [
      [
        0.1845796125560955,
        -0.27027697844597837,
        -0.9449236591126045
      ],
      [
        -0.5329006490774026,
        0.7803189218285504,
        -0.32729081632274865
      ],
      [
        0.8258009837978666,
        0.5639616433397224,
        1.870167630202424e-07
      ]
    ],
    "servo_angle": [
      [
        90.727179,
        -23.247705,
        -68.561906,
        173.16916,
        -1.923763,
        -72.693848,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.166737,
        -22.787849,
        -20.935477,
        -119.24581,
        64.485426,
        109.087497,
        0.0
      ]
    ],
    "turn_angle": 847.2100029686975,
    "filename": "scan-0256_light-25_camera-256.png"
  },
  {
    "id": 257,
    "scan_id": "0257",
    "camera_id": 257,
    "light_id": 25,
    "position": [
      186.145004,
      -136.381149,
      444.091583
    ],
    "rotation_matrix": [
      [
        0.995559399958102,
        -0.09413540800896748,
        7.819238461247852e-05
      ],
      [
        -6.272659991969631e-05,
        0.000167251914242883,
        0.9999999840460853
      ],
      [
        -0.09413541958496521,
        -0.9955593889797746,
        0.00016060442130899633
      ]
    ],
    "position_light": [
      59.071865,
      216.465607,
      168.07872
    ],
    "rotation_matrix_light": [
      [
        0.1845796125560955,
        -0.27027697844597837,
        -0.9449236591126045
      ],
      [
        -0.5329006490774026,
        0.7803189218285504,
        -0.32729081632274865
      ],
      [
        0.8258009837978666,
        0.5639616433397224,
        1.870167630202424e-07
      ]
    ],
    "servo_angle": [
      [
        89.838293,
        -23.395586,
        -67.926152,
        209.487006,
        -1.439671,
        -113.827806,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.166737,
        -22.787849,
        -20.935477,
        -119.24581,
        64.485426,
        109.087497,
        0.0
      ]
    ],
    "turn_angle": 847.2100029686975,
    "filename": "scan-0257_light-25_camera-257.png"
  },
  {
    "id": 258,
    "scan_id": "0258",
    "camera_id": 258,
    "light_id": 25,
    "position": [
      160.783615,
      -136.381149,
      444.761902
    ],
    "rotation_matrix": [
      [
        0.9990099472539997,
        -0.044487305415446786,
        7.031666319657834e-05
      ],
      [
        -6.29440064348133e-05,
        0.0001671257330028153,
        0.9999999840535205
      ],
      [
        -0.044487316457754764,
        -0.9990099357493207,
        0.00016416006047359488
      ]
    ],
    "position_light": [
      59.071865,
      216.465607,
      168.07872
    ],
    "rotation_matrix_light": [
      [
        0.1845796125560955,
        -0.27027697844597837,
        -0.9449236591126045
      ],
      [
        -0.5329006490774026,
        0.7803189218285504,
        -0.32729081632274865
      ],
      [
        0.8258009837978666,
        0.5639616433397224,
        1.870167630202424e-07
      ]
    ],
    "servo_angle": [
      [
        91.307414,
        -23.926087,
        -65.452006,
        226.347149,
        1.093318,
        -133.494182,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.166737,
        -22.787849,
        -20.935477,
        -119.24581,
        64.485426,
        109.087497,
        0.0
      ]
    ],
    "turn_angle": 847.2100029686975,
    "filename": "scan-0258_light-25_camera-258.png"
  },
  {
    "id": 259,
    "scan_id": "0259",
    "camera_id": 259,
    "light_id": 25,
    "position": [
      128.412369,
      -136.381149,
      443.782898
    ],
    "rotation_matrix": [
      [
        0.9998187236312548,
        0.01903986082240379,
        5.9801605953580667e-05
      ],
      [
        -6.299496451149002e-05,
        0.00016711991977952367,
        0.9999999840512833
      ],
      [
        0.019039850524702855,
        -0.9998187114526292,
        0.000168289040244185
      ]
    ],
    "position_light": [
      59.071865,
      216.465607,
      168.07872
    ],
    "rotation_matrix_light": [
      [
        0.1845796125560955,
        -0.27027697844597837,
        -0.9449236591126045
      ],
      [
        -0.5329006490774026,
        0.7803189218285504,
        -0.32729081632274865
      ],
      [
        0.8258009837978666,
        0.5639616433397224,
        1.870167630202424e-07
      ]
    ],
    "servo_angle": [
      [
        95.700166,
        -24.215431,
        -62.846824,
        239.597829,
        6.069628,
        -150.170347,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.166737,
        -22.787849,
        -20.935477,
        -119.24581,
        64.485426,
        109.087497,
        0.0
      ]
    ],
    "turn_angle": 847.2100029686975,
    "filename": "scan-0259_light-25_camera-259.png"
  },
  {
    "id": 260,
    "scan_id": "0260",
    "camera_id": 260,
    "light_id": 26,
    "position": [
      139.284515,
      -136.381149,
      444.341431
    ],
    "rotation_matrix": [
      [
        0.9999973160893264,
        -0.0023159869075285245,
        6.339390869108301e-05
      ],
      [
        -6.300621697685792e-05,
        0.0001674706369050316,
        0.9999999839919009
      ],
      [
        -0.0023159974870722412,
        -0.9999973040754808,
        0.00016732426585519544
      ]
    ],
    "position_light": [
      418.760925,
      203.035843,
      262.559448
    ],
    "rotation_matrix_light": [
      [
        0.42062676867256144,
        0.5286638145540399,
        0.7372839972881897
      ],
      [
        0.4590424149977098,
        0.5769469246736344,
        -0.6755829389073603
      ],
      [
        -0.7825299883768992,
        0.622612895217251,
        2.0646625464859625e-07
      ]
    ],
    "servo_angle": [
      [
        94.003237,
        -24.19807,
        -63.575454,
        236.05334,
        4.244643,
        -145.498335,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.813972,
        -25.059856,
        -37.337941,
        -203.748777,
        29.759485,
        59.76666,
        0.0
      ]
    ],
    "turn_angle": 857.8130490041129,
    "filename": "scan-0260_light-26_camera-260.png"
  },
  {
    "id": 261,
    "scan_id": "0261",
    "camera_id": 261,
    "light_id": 26,
    "position": [
      84.825668,
      -136.381149,
      439.189087
    ],
    "rotation_matrix": [
      [
        0.9944878437358999,
        0.10485192726680184,
        4.483254392478875e-05
      ],
      [
        -6.265908503466644e-05,
        0.00016672230648095976,
        0.9999999841387555
      ],
      [
        0.10485191812913468,
        -0.9944878307712515,
        0.00017237323290164586
      ]
    ],
    "position_light": [
      418.760925,
      203.035843,
      262.559448
    ],
    "rotation_matrix_light": [
      [
        0.42062676867256144,
        0.5286638145540399,
        0.7372839972881897
      ],
      [
        0.4590424149977098,
        0.5769469246736344,
        -0.6755829389073603
      ],
      [
        -0.7825299883768992,
        0.622612895217251,
        2.0646625464859625e-07
      ]
    ],
    "servo_angle": [
      [
        103.474287,
        -23.368771,
        -61.308948,
        247.917004,
        14.108627,
        -162.813807,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.813972,
        -25.059856,
        -37.337941,
        -203.748777,
        29.759485,
        59.76666,
        0.0
      ]
    ],
    "turn_angle": 857.8130490041129,
    "filename": "scan-0261_light-26_camera-261.png"
  },
  {
    "id": 262,
    "scan_id": "0262",
    "camera_id": 262,
    "light_id": 26,
    "position": [
      58.179344,
      -136.381149,
      434.490112
    ],
    "rotation_matrix": [
      [
        0.9875234790490206,
        0.15747182930713605,
        3.6077461030931124e-05
      ],
      [
        -6.320271114890197e-05,
        0.0001672470616533306,
        0.999999984016919
      ],
      [
        0.15747182075640165,
        -0.9875234655455459,
        0.00017511304672640504
      ]
    ],
    "position_light": [
      418.760925,
      203.035843,
      262.559448
    ],
    "rotation_matrix_light": [
      [
        0.42062676867256144,
        0.5286638145540399,
        0.7372839972881897
      ],
      [
        0.4590424149977098,
        0.5769469246736344,
        -0.6755829389073603
      ],
      [
        -0.7825299883768992,
        0.622612895217251,
        2.0646625464859625e-07
      ]
    ],
    "servo_angle": [
      [
        108.398802,
        -22.151522,
        -61.180376,
        250.308072,
        19.161542,
        -167.71867,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.813972,
        -25.059856,
        -37.337941,
        -203.748777,
        29.759485,
        59.76666,
        0.0
      ]
    ],
    "turn_angle": 857.8130490041129,
    "filename": "scan-0262_light-26_camera-262.png"
  },
  {
    "id": 263,
    "scan_id": "0263",
    "camera_id": 263,
    "light_id": 26,
    "position": [
      18.796679,
      -136.381149,
      424.815735
    ],
    "rotation_matrix": [
      [
        0.9718811771812542,
        0.23547181774911724,
        2.206141469295042e-05
      ],
      [
        -6.316844870035698e-05,
        0.00016702980559801794,
        0.9999999840553954
      ],
      [
        0.23547181030969844,
        -0.9718811630785785,
        0.0001772075135287876
      ]
    ],
    "position_light": [
      418.760925,
      203.035843,
      262.559448
    ],
    "rotation_matrix_light": [
      [
        0.42062676867256144,
        0.5286638145540399,
        0.7372839972881897
      ],
      [
        0.4590424149977098,
        0.5769469246736344,
        -0.6755829389073603
      ],
      [
        -0.7825299883768992,
        0.622612895217251,
        2.0646625464859625e-07
      ]
    ],
    "servo_angle": [
      [
        115.379204,
        -19.46859,
        -61.748693,
        252.085158,
        26.381097,
        -173.045515,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.813972,
        -25.059856,
        -37.337941,
        -203.748777,
        29.759485,
        59.76666,
        0.0
      ]
    ],
    "turn_angle": 857.8130490041129,
    "filename": "scan-0263_light-26_camera-263.png"
  },
  {
    "id": 264,
    "scan_id": "0264",
    "camera_id": 264,
    "light_id": 26,
    "position": [
      -7.721184,
      -136.381149,
      416.380768
    ],
    "rotation_matrix": [
      [
        0.957583937770796,
        0.2881544758834903,
        1.2316140015400379e-05
      ],
      [
        -6.320853802296855e-05,
        0.00016731074807896373,
        0.999999984005897
      ],
      [
        0.2881544692140954,
        -0.9575839232335851,
        0.00017842790812216958
      ]
    ],
    "position_light": [
      418.760925,
      203.035843,
      262.559448
    ],
    "rotation_matrix_light": [
      [
        0.42062676867256144,
        0.5286638145540399,
        0.7372839972881897
      ],
      [
        0.4590424149977098,
        0.5769469246736344,
        -0.6755829389073603
      ],
      [
        -0.7825299883768992,
        0.622612895217251,
        2.0646625464859625e-07
      ]
    ],
    "servo_angle": [
      [
        119.748695,
        -17.118432,
        -62.532958,
        252.634281,
        30.954962,
        -175.878047,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.813972,
        -25.059856,
        -37.337941,
        -203.748777,
        29.759485,
        59.76666,
        0.0
      ]
    ],
    "turn_angle": 857.8130490041129,
    "filename": "scan-0264_light-26_camera-264.png"
  },
  {
    "id": 265,
    "scan_id": "0265",
    "camera_id": 265,
    "light_id": 26,
    "position": [
      -23.588684,
      -136.381149,
      410.555481
    ],
    "rotation_matrix": [
      [
        0.947503744286939,
        0.31974467083700364,
        5.793708158313704e-06
      ],
      [
        -6.254316105916424e-05,
        0.0001672152066746202,
        0.9999999840637136
      ],
      [
        0.31974466477266494,
        -0.9475037295496048,
        0.000178434876871858
      ]
    ],
    "position_light": [
      418.760925,
      203.035843,
      262.559448
    ],
    "rotation_matrix_light": [
      [
        0.42062676867256144,
        0.5286638145540399,
        0.7372839972881897
      ],
      [
        0.4590424149977098,
        0.5769469246736344,
        -0.6755829389073603
      ],
      [
        -0.7825299883768992,
        0.622612895217251,
        2.0646625464859625e-07
      ]
    ],
    "servo_angle": [
      [
        122.214934,
        -15.518218,
        -63.136397,
        252.817513,
        33.560258,
        -177.390025,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.813972,
        -25.059856,
        -37.337941,
        -203.748777,
        29.759485,
        59.76666,
        0.0
      ]
    ],
    "turn_angle": 857.8130490041129,
    "filename": "scan-0265_light-26_camera-265.png"
  },
  {
    "id": 266,
    "scan_id": "0266",
    "camera_id": 266,
    "light_id": 26,
    "position": [
      -58.110321,
      -136.381149,
      395.74472
    ],
    "rotation_matrix": [
      [
        0.9213850606124224,
        0.3886509616986223,
        -7.1399096065738465e-06
      ],
      [
        -6.265236693153708e-05,
        0.00016690262160257152,
        0.9999999841090976
      ],
      [
        0.3886509567142775,
        -0.9213850455234502,
        0.00017813148478229568
      ]
    ],
    "position_light": [
      418.760925,
      203.035843,
      262.559448
    ],
    "rotation_matrix_light": [
      [
        0.42062676867256144,
        0.5286638145540399,
        0.7372839972881897
      ],
      [
        0.4590424149977098,
        0.5769469246736344,
        -0.6755829389073603
      ],
      [
        -0.7825299883768992,
        0.622612895217251,
        2.0646625464859625e-07
      ]
    ],
    "servo_angle": [
      [
        127.181791,
        -11.564752,
        -64.77179,
        252.98516,
        38.870374,
        -180.36763,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.813972,
        -25.059856,
        -37.337941,
        -203.748777,
        29.759485,
        59.76666,
        0.0
      ]
    ],
    "turn_angle": 857.8130490041129,
    "filename": "scan-0266_light-26_camera-266.png"
  },
  {
    "id": 267,
    "scan_id": "0267",
    "camera_id": 267,
    "light_id": 26,
    "position": [
      -94.898636,
      -136.381149,
      376.457245
    ],
    "rotation_matrix": [
      [
        0.8866834760732915,
        0.46237691639021417,
        -2.1167471058680665e-05
      ],
      [
        -6.29545215612981e-05,
        0.00016650529472117537,
        0.9999999841563575
      ],
      [
        0.46237691258897556,
        -0.8866834606924073,
        0.00017674621106034127
      ]
    ],
    "position_light": [
      418.760925,
      203.035843,
      262.559448
    ],
    "rotation_matrix_light": [
      [
        0.42062676867256144,
        0.5286638145540399,
        0.7372839972881897
      ],
      [
        0.4590424149977098,
        0.5769469246736344,
        -0.6755829389073603
      ],
      [
        -0.7825299883768992,
        0.622612895217251,
        2.0646625464859625e-07
      ]
    ],
    "servo_angle": [
      [
        131.884285,
        -6.673755,
        -66.987017,
        252.965679,
        43.993648,
        -183.260837,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.813972,
        -25.059856,
        -37.337941,
        -203.748777,
        29.759485,
        59.76666,
        0.0
      ]
    ],
    "turn_angle": 857.8130490041129,
    "filename": "scan-0267_light-26_camera-267.png"
  },
  {
    "id": 268,
    "scan_id": "0268",
    "camera_id": 268,
    "light_id": 26,
    "position": [
      -120.630211,
      -136.381149,
      360.563751
    ],
    "rotation_matrix": [
      [
        0.8577019932832053,
        0.5141471478974167,
        -3.2046350991188355e-05
      ],
      [
        -6.261835469850707e-05,
        0.0001667892907202262,
        0.9999999841301371
      ],
      [
        0.5141471450829601,
        -0.8577019776649023,
        0.00017525055558331726
      ]
    ],
    "position_light": [
      418.760925,
      203.035843,
      262.559448
    ],
    "rotation_matrix_light": [
      [
        0.42062676867256144,
        0.5286638145540399,
        0.7372839972881897
      ],
      [
        0.4590424149977098,
        0.5769469246736344,
        -0.6755829389073603
      ],
      [
        -0.7825299883768992,
        0.622612895217251,
        2.0646625464859625e-07
      ]
    ],
    "servo_angle": [
      [
        134.833356,
        -2.845824,
        -68.831941,
        252.893143,
        47.266669,
        -185.211415,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.813972,
        -25.059856,
        -37.337941,
        -203.748777,
        29.759485,
        59.76666,
        0.0
      ]
    ],
    "turn_angle": 857.8130490041129,
    "filename": "scan-0268_light-26_camera-268.png"
  },
  {
    "id": 269,
    "scan_id": "0269",
    "camera_id": 269,
    "light_id": 26,
    "position": [
      -142.830887,
      -136.381149,
      345.062531
    ],
    "rotation_matrix": [
      [
        0.8291918501160203,
        0.5589641079878144,
        -4.101899891933991e-05
      ],
      [
        -6.301164506428147e-05,
        0.00016685819265266355,
        0.999999984093938
      ],
      [
        0.5589641059412527,
        -0.8291918343421687,
        0.00017357870144890652
      ]
    ],
    "position_light": [
      418.760925,
      203.035843,
      262.559448
    ],
    "rotation_matrix_light": [
      [
        0.42062676867256144,
        0.5286638145540399,
        0.7372839972881897
      ],
      [
        0.4590424149977098,
        0.5769469246736344,
        -0.6755829389073603
      ],
      [
        -0.7825299883768992,
        0.622612895217251,
        2.0646625464859625e-07
      ]
    ],
    "servo_angle": [
      [
        137.170565,
        0.732068,
        -70.631888,
        252.812241,
        49.900785,
        -186.892759,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.813972,
        -25.059856,
        -37.337941,
        -203.748777,
        29.759485,
        59.76666,
        0.0
      ]
    ],
    "turn_angle": 857.8130490041129,
    "filename": "scan-0269_light-26_camera-269.png"
  },
  {
    "id": 270,
    "scan_id": "0270",
    "camera_id": 270,
    "light_id": 27,
    "position": [
      -169.339035,
      -136.381149,
      324.093353
    ],
    "rotation_matrix": [
      [
        0.7903281025531284,
        0.6126838398548604,
        -5.1917969752846016e-05
      ],
      [
        -6.323090567256218e-05,
        0.0001663029510591274,
        0.9999999841725904
      ],
      [
        0.6126838387917739,
        -0.7903280867614615,
        0.0001701744498444624
      ]
    ],
    "position_light": [
      399.200989,
      195.607758,
      367.562622
    ],
    "rotation_matrix_light": [
      [
        0.4859132986277188,
        0.4436607169983072,
        0.7530295043418131
      ],
      [
        0.5561006878566845,
        0.5077454671138475,
        -0.6579867518352195
      ],
      [
        -0.6742701915271438,
        0.7384847383784504,
        2.4489081307255134e-07
      ]
    ],
    "servo_angle": [
      [
        139.730541,
        5.359333,
        -73.058536,
        252.705786,
        52.835418,
        -188.945381,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.14831,
        -29.812598,
        -48.071102,
        -226.459334,
        17.168623,
        92.925217,
        0.0
      ]
    ],
    "turn_angle": 903.0259965120157,
    "filename": "scan-0270_light-27_camera-270.png"
  },
  {
    "id": 271,
    "scan_id": "0271",
    "camera_id": 271,
    "light_id": 27,
    "position": [
      -199.112625,
      -136.381149,
      296.795441
    ],
    "rotation_matrix": [
      [
        0.7393364246488914,
        0.6733362063819102,
        -6.605007072579827e-05
      ],
      [
        -6.284177346593811e-05,
        0.00016709525006958215,
        0.9999999840650443
      ],
      [
        0.6733362066889806,
        -0.7393364087168947,
        0.00016585324611012586
      ]
    ],
    "position_light": [
      399.200989,
      195.607758,
      367.562622
    ],
    "rotation_matrix_light": [
      [
        0.4859132986277188,
        0.4436607169983072,
        0.7530295043418131
      ],
      [
        0.5561006878566845,
        0.5077454671138475,
        -0.6579867518352195
      ],
      [
        -0.6742701915271438,
        0.7384847383784504,
        2.4489081307255134e-07
      ]
    ],
    "servo_angle": [
      [
        142.335379,
        11.073383,
        -76.19886,
        252.582141,
        55.886876,
        -191.378102,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.14831,
        -29.812598,
        -48.071102,
        -226.459334,
        17.168623,
        92.925217,
        0.0
      ]
    ],
    "turn_angle": 903.0259965120157,
    "filename": "scan-0271_light-27_camera-271.png"
  },
  {
    "id": 272,
    "scan_id": "0272",
    "camera_id": 272,
    "light_id": 27,
    "position": [
      -231.970245,
      -136.381149,
      260.909729
    ],
    "rotation_matrix": [
      [
        0.6717727292808691,
        0.7407573108807267,
        -8.106347152236903e-05
      ],
      [
        -6.314894327852372e-05,
        0.00016670130202972588,
        0.9999999841114433
      ],
      [
        0.7407573126245485,
        -0.6717727134882974,
        0.00015876343004722626
      ]
    ],
    "position_light": [
      399.200989,
      195.607758,
      367.562622
    ],
    "rotation_matrix_light": [
      [
        0.4859132986277188,
        0.4436607169983072,
        0.7530295043418131
      ],
      [
        0.5561006878566845,
        0.5077454671138475,
        -0.6579867518352195
      ],
      [
        -0.6742701915271438,
        0.7384847383784504,
        2.4489081307255134e-07
      ]
    ],
    "servo_angle": [
      [
        144.916668,
        18.156116,
        -80.300608,
        252.443428,
        58.996547,
        -194.336971,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.14831,
        -29.812598,
        -48.071102,
        -226.459334,
        17.168623,
        92.925217,
        0.0
      ]
    ],
    "turn_angle": 903.0259965120157,
    "filename": "scan-0272_light-27_camera-272.png"
  },
  {
    "id": 273,
    "scan_id": "0273",
    "camera_id": 273,
    "light_id": 27,
    "position": [
      -244.609558,
      -136.381149,
      245.078903
    ],
    "rotation_matrix": [
      [
        0.6418108611639197,
        0.7668629674057927,
        -8.782715820876419e-05
      ],
      [
        -6.289761702510388e-05,
        0.00016716875896299888,
        0.9999999840492477
      ],
      [
        0.7668629698557086,
        -0.6418108454024347,
        0.00015552457838446943
      ]
    ],
    "position_light": [
      399.200989,
      195.607758,
      367.562622
    ],
    "rotation_matrix_light": [
      [
        0.4859132986277188,
        0.4436607169983072,
        0.7530295043418131
      ],
      [
        0.5561006878566845,
        0.5077454671138475,
        -0.6579867518352195
      ],
      [
        -0.6742701915271438,
        0.7384847383784504,
        2.4489081307255134e-07
      ]
    ],
    "servo_angle": [
      [
        145.836437,
        21.154117,
        -82.104451,
        252.388195,
        60.131691,
        -195.589686,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.14831,
        -29.812598,
        -48.071102,
        -226.459334,
        17.168623,
        92.925217,
        0.0
      ]
    ],
    "turn_angle": 903.0259965120157,
    "filename": "scan-0273_light-27_camera-273.png"
  },
  {
    "id": 274,
    "scan_id": "0274",
    "camera_id": 274,
    "light_id": 27,
    "position": [
      -269.877533,
      -136.381149,
      208.976471
    ],
    "rotation_matrix": [
      [
        0.5731832449796629,
        0.8194272131612678,
        -0.0001000267065112137
      ],
      [
        -6.305480156443277e-05,
        0.00016617541926416957,
        0.9999999842049109
      ],
      [
        0.8194272168403218,
        -0.5731832296190184,
        0.00014691778637204722
      ]
    ],
    "position_light": [
      399.200989,
      195.607758,
      367.562622
    ],
    "rotation_matrix_light": [
      [
        0.4859132986277188,
        0.4436607169983072,
        0.7530295043418131
      ],
      [
        0.5561006878566845,
        0.5077454671138475,
        -0.6579867518352195
      ],
      [
        -0.6742701915271438,
        0.7384847383784504,
        2.4489081307255134e-07
      ]
    ],
    "servo_angle": [
      [
        147.566827,
        27.759003,
        -86.218059,
        252.269077,
        62.319473,
        -198.377412,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.14831,
        -29.812598,
        -48.071102,
        -226.459334,
        17.168623,
        92.925217,
        0.0
      ]
    ],
    "turn_angle": 903.0259965120157,
    "filename": "scan-0274_light-27_camera-274.png"
  },
  {
    "id": 275,
    "scan_id": "0275",
    "camera_id": 275,
    "light_id": 27,
    "position": [
      -276.39035,
      -136.381149,
      198.479187
    ],
    "rotation_matrix": [
      [
        0.5531588849656173,
        0.8330757692008856,
        -0.0001037012432295592
      ],
      [
        -6.30628273662337e-05,
        0.0001663534218382945,
        0.9999999841748093
      ],
      [
        0.8330757732683594,
        -0.5531588696720788,
        0.00014455598675039427
      ]
    ],
    "position_light": [
      399.200989,
      195.607758,
      367.562622
    ],
    "rotation_matrix_light": [
      [
        0.4859132986277188,
        0.4436607169983072,
        0.7530295043418131
      ],
      [
        0.5561006878566845,
        0.5077454671138475,
        -0.6579867518352195
      ],
      [
        -0.6742701915271438,
        0.7384847383784504,
        2.4489081307255134e-07
      ]
    ],
    "servo_angle": [
      [
        147.991217,
        29.627877,
        -87.416744,
        252.235216,
        62.869169,
        -199.176344,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.14831,
        -29.812598,
        -48.071102,
        -226.459334,
        17.168623,
        92.925217,
        0.0
      ]
    ],
    "turn_angle": 903.0259965120157,
    "filename": "scan-0275_light-27_camera-275.png"
  },
  {
    "id": 276,
    "scan_id": "0276",
    "camera_id": 276,
    "light_id": 27,
    "position": [
      -304.644012,
      -136.381149,
      144.675415
    ],
    "rotation_matrix": [
      [
        0.4500901763337066,
        0.8929831010323837,
        -0.00012016022974947749
      ],
      [
        -6.30094111406243e-05,
        0.0001663190990380814,
        0.9999999841838858
      ],
      [
        0.892983106893802,
        -0.45009016164380355,
        0.00013112493196831831
      ]
    ],
    "position_light": [
      399.200989,
      195.607758,
      367.562622
    ],
    "rotation_matrix_light": [
      [
        0.4859132986277188,
        0.4436607169983072,
        0.7530295043418131
      ],
      [
        0.5561006878566845,
        0.5077454671138475,
        -0.6579867518352195
      ],
      [
        -0.6742701915271438,
        0.7384847383784504,
        2.4489081307255134e-07
      ]
    ],
    "servo_angle": [
      [
        149.742405,
        38.928529,
        -93.610589,
        252.057369,
        65.218067,
        -203.242225,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.14831,
        -29.812598,
        -48.071102,
        -226.459334,
        17.168623,
        92.925217,
        0.0
      ]
    ],
    "turn_angle": 903.0259965120157,
    "filename": "scan-0276_light-27_camera-276.png"
  },
  {
    "id": 277,
    "scan_id": "0277",
    "camera_id": 277,
    "light_id": 27,
    "position": [
      -315.596954,
      -136.381149,
      118.481224
    ],
    "rotation_matrix": [
      [
        0.3996750473423193,
        0.91665688239787,
        -0.00012839210252579836
      ],
      [
        -6.274593191557543e-05,
        0.00016742369661920664,
        0.9999999840161266
      ],
      [
        0.916656889242023,
        -0.39967503289788187,
        0.00012443156420532953
      ]
    ],
    "position_light": [
      399.200989,
      195.607758,
      367.562622
    ],
    "rotation_matrix_light": [
      [
        0.4859132986277188,
        0.4436607169983072,
        0.7530295043418131
      ],
      [
        0.5561006878566845,
        0.5077454671138475,
        -0.6579867518352195
      ],
      [
        -0.6742701915271438,
        0.7384847383784504,
        2.4489081307255134e-07
      ]
    ],
    "servo_angle": [
      [
        150.387326,
        43.328787,
        -96.675914,
        251.964436,
        66.130961,
        -205.225805,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.14831,
        -29.812598,
        -48.071102,
        -226.459334,
        17.168623,
        92.925217,
        0.0
      ]
    ],
    "turn_angle": 903.0259965120157,
    "filename": "scan-0277_light-27_camera-277.png"
  },
  {
    "id": 278,
    "scan_id": "0278",
    "camera_id": 278,
    "light_id": 27,
    "position": [
      -323.981995,
      -136.381149,
      95.060143
    ],
    "rotation_matrix": [
      [
        0.35447852313446326,
        0.9350641468616996,
        -0.00013375429453837961
      ],
      [
        -6.274051546539816e-05,
        0.00016682754675201306,
        0.9999999841160984
      ],
      [
        0.9350641543231337,
        -0.35447850911214795,
        0.00011780318895815434
      ]
    ],
    "position_light": [
      399.200989,
      195.607758,
      367.562622
    ],
    "rotation_matrix_light": [
      [
        0.4859132986277188,
        0.4436607169983072,
        0.7530295043418131
      ],
      [
        0.5561006878566845,
        0.5077454671138475,
        -0.6579867518352195
      ],
      [
        -0.6742701915271438,
        0.7384847383784504,
        2.4489081307255134e-07
      ]
    ],
    "servo_angle": [
      [
        150.871189,
        47.216134,
        -99.458483,
        251.876086,
        66.843548,
        -207.013547,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.14831,
        -29.812598,
        -48.071102,
        -226.459334,
        17.168623,
        92.925217,
        0.0
      ]
    ],
    "turn_angle": 903.0259965120157,
    "filename": "scan-0278_light-27_camera-278.png"
  },
  {
    "id": 279,
    "scan_id": "0279",
    "camera_id": 279,
    "light_id": 27,
    "position": [
      -336.494263,
      -136.381149,
      50.547626
    ],
    "rotation_matrix": [
      [
        0.26829367152542327,
        0.9633371606541286,
        -0.00014395224754831792
      ],
      [
        -6.277972566848256e-05,
        0.00016691523479395176,
        0.9999999840990048
      ],
      [
        0.9633371693639325,
        -0.2682936582220043,
        0.00010526034384850114
      ]
    ],
    "position_light": [
      399.200989,
      195.607758,
      367.562622
    ],
    "rotation_matrix_light": [
      [
        0.4859132986277188,
        0.4436607169983072,
        0.7530295043418131
      ],
      [
        0.5561006878566845,
        0.5077454671138475,
        -0.6579867518352195
      ],
      [
        -0.6742701915271438,
        0.7384847383784504,
        2.4489081307255134e-07
      ]
    ],
    "servo_angle": [
      [
        151.584694,
        54.53504,
        -104.896254,
        251.691479,
        67.965571,
        -210.474556,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.14831,
        -29.812598,
        -48.071102,
        -226.459334,
        17.168623,
        92.925217,
        0.0
      ]
    ],
    "turn_angle": 903.0259965120157,
    "filename": "scan-0279_light-27_camera-279.png"
  },
  {
    "id": 280,
    "scan_id": "0280",
    "camera_id": 280,
    "light_id": 28,
    "position": [
      -335.901184,
      -136.381149,
      53.067123
    ],
    "rotation_matrix": [
      [
        0.273181044398388,
        0.9619626273277548,
        -0.00014354821181811195
      ],
      [
        -6.283150167724072e-05,
        0.0001670673893300889,
        0.9999999840703448
      ],
      [
        0.9619626359862468,
        -0.27318103102735836,
        0.00010608120033445134
      ]
    ],
    "position_light": [
      363.148071,
      213.279465,
      168.201172
    ],
    "rotation_matrix_light": [
      [
        0.30015304294796663,
        0.49638329357884725,
        0.8145623221490741
      ],
      [
        0.4214847570326239,
        0.6970382889440662,
        -0.580076049613392
      ],
      [
        -0.8557211873023982,
        0.5174371938716277,
        1.7158867143818313e-07
      ]
    ],
    "servo_angle": [
      [
        151.550832,
        54.12188,
        -104.582101,
        251.702537,
        67.909536,
        -210.27574,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.322918,
        -24.206206,
        -20.555377,
        -218.660404,
        52.529458,
        57.700746,
        0.0
      ]
    ],
    "turn_angle": 917.8954310846784,
    "filename": "scan-0280_light-28_camera-280.png"
  },
  {
    "id": 281,
    "scan_id": "0281",
    "camera_id": 281,
    "light_id": 28,
    "position": [
      -328.255463,
      -136.381149,
      81.507439
    ],
    "rotation_matrix": [
      [
        0.32827739416230556,
        0.9445813536645615,
        -0.00013708111080823482
      ],
      [
        -6.269815331116924e-05,
        0.0001669136220034395,
        0.9999999841043921
      ],
      [
        0.9445813615305714,
        -0.3282773803494043,
        0.00011401747540845664
      ]
    ],
    "position_light": [
      363.148071,
      213.279465,
      168.201172
    ],
    "rotation_matrix_light": [
      [
        0.30015304294796663,
        0.49638329357884725,
        0.8145623221490741
      ],
      [
        0.4214847570326239,
        0.6970382889440662,
        -0.580076049613392
      ],
      [
        -0.8557211873023982,
        0.5174371938716277,
        1.7158867143818313e-07
      ]
    ],
    "servo_angle": [
      [
        151.115441,
        49.451185,
        -101.090897,
        251.822285,
        67.215742,
        -208.057076,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.322918,
        -24.206206,
        -20.555377,
        -218.660404,
        52.529458,
        57.700746,
        0.0
      ]
    ],
    "turn_angle": 917.8954310846784,
    "filename": "scan-0281_light-28_camera-281.png"
  },
  {
    "id": 282,
    "scan_id": "0282",
    "camera_id": 282,
    "light_id": 28,
    "position": [
      -317.628418,
      -136.381149,
      113.126137
    ],
    "rotation_matrix": [
      [
        0.38935048445274967,
        0.9210896718028431,
        -0.00012943932862552465
      ],
      [
        -6.268800740005798e-05,
        0.00016702709554333728,
        0.9999999840860813
      ],
      [
        0.9210896787645722,
        -0.3893504701423641,
        0.00012277335672866707
      ]
    ],
    "position_light": [
      363.148071,
      213.279465,
      168.201172
    ],
    "rotation_matrix_light": [
      [
        0.30015304294796663,
        0.49638329357884725,
        0.8145623221490741
      ],
      [
        0.4214847570326239,
        0.6970382889440662,
        -0.580076049613392
      ],
      [
        -0.8557211873023982,
        0.5174371938716277,
        1.7158867143818313e-07
      ]
    ],
    "servo_angle": [
      [
        150.505241,
        44.220997,
        -97.308287,
        251.944726,
        66.302046,
        -205.633063,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.322918,
        -24.206206,
        -20.555377,
        -218.660404,
        52.529458,
        57.700746,
        0.0
      ]
    ],
    "turn_angle": 917.8954310846784,
    "filename": "scan-0282_light-28_camera-282.png"
  },
  {
    "id": 283,
    "scan_id": "0283",
    "camera_id": 283,
    "light_id": 28,
    "position": [
      -297.276733,
      -136.381149,
      160.290482
    ],
    "rotation_matrix": [
      [
        0.48007246204750365,
        0.8772288286286768,
        -0.00011578604292539207
      ],
      [
        -6.289161176209479e-05,
        0.00016640877183921043,
        0.9999999841763828
      ],
      [
        0.8772288340155568,
        -0.48007244716904995,
        0.0001350586037198731
      ]
    ],
    "position_light": [
      363.148071,
      213.279465,
      168.201172
    ],
    "rotation_matrix_light": [
      [
        0.30015304294796663,
        0.49638329357884725,
        0.8145623221490741
      ],
      [
        0.4214847570326239,
        0.6970382889440662,
        -0.580076049613392
      ],
      [
        -0.8557211873023982,
        0.5174371938716277,
        1.7158867143818313e-07
      ]
    ],
    "servo_angle": [
      [
        149.298879,
        36.270749,
        -91.801475,
        252.110368,
        64.608039,
        -202.063651,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.322918,
        -24.206206,
        -20.555377,
        -218.660404,
        52.529458,
        57.700746,
        0.0
      ]
    ],
    "turn_angle": 917.8954310846784,
    "filename": "scan-0283_light-28_camera-283.png"
  },
  {
    "id": 284,
    "scan_id": "0284",
    "camera_id": 284,
    "light_id": 28,
    "position": [
      -284.779175,
      -136.381149,
      184.056824
    ],
    "rotation_matrix": [
      [
        0.5255992278985558,
        0.8507322962643628,
        -0.00010828299149406861
      ],
      [
        -6.306738017791691e-05,
        0.00016624637001616538,
        0.9999999841923248
      ],
      [
        0.8507323008179173,
        -0.5255992127609295,
        0.00014103242087959433
      ]
    ],
    "position_light": [
      363.148071,
      213.279465,
      168.201172
    ],
    "rotation_matrix_light": [
      [
        0.30015304294796663,
        0.49638329357884725,
        0.8145623221490741
      ],
      [
        0.4214847570326239,
        0.6970382889440662,
        -0.580076049613392
      ],
      [
        -0.8557211873023982,
        0.5174371938716277,
        1.7158867143818313e-07
      ]
    ],
    "servo_angle": [
      [
        148.525844,
        32.163387,
        -89.067435,
        252.188577,
        63.570985,
        -200.269204,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.322918,
        -24.206206,
        -20.555377,
        -218.660404,
        52.529458,
        57.700746,
        0.0
      ]
    ],
    "turn_angle": 917.8954310846784,
    "filename": "scan-0284_light-28_camera-284.png"
  },
  {
    "id": 285,
    "scan_id": "0285",
    "camera_id": 285,
    "light_id": 28,
    "position": [
      -272.368408,
      -136.381149,
      205.028488
    ],
    "rotation_matrix": [
      [
        0.565655830594276,
        0.8246414195915088,
        -0.00010202353076294024
      ],
      [
        -6.278946072330038e-05,
        0.00016678855855783992,
        0.9999999841195301
      ],
      [
        0.8246414235121732,
        -0.5656558152053931,
        0.0001461237106509805
      ]
    ],
    "position_light": [
      363.148071,
      213.279465,
      168.201172
    ],
    "rotation_matrix_light": [
      [
        0.30015304294796663,
        0.49638329357884725,
        0.8145623221490741
      ],
      [
        0.4214847570326239,
        0.6970382889440662,
        -0.580076049613392
      ],
      [
        -0.8557211873023982,
        0.5174371938716277,
        1.7158867143818313e-07
      ]
    ],
    "servo_angle": [
      [
        147.73012,
        28.464314,
        -86.66869,
        252.256358,
        62.530322,
        -198.678329,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.322918,
        -24.206206,
        -20.555377,
        -218.660404,
        52.529458,
        57.700746,
        0.0
      ]
    ],
    "turn_angle": 917.8954310846784,
    "filename": "scan-0285_light-28_camera-285.png"
  },
  {
    "id": 286,
    "scan_id": "0286",
    "camera_id": 286,
    "light_id": 28,
    "position": [
      -245.316986,
      -136.381149,
      244.153625
    ],
    "rotation_matrix": [
      [
        0.6400569033638244,
        0.7683275035297376,
        -8.818204682564668e-05
      ],
      [
        -6.272572874366222e-05,
        0.0001670252340746914,
        0.999999984084027
      ],
      [
        0.7683275060296848,
        -0.6400568876454127,
        0.00015509955667819542
      ]
    ],
    "position_light": [
      363.148071,
      213.279465,
      168.201172
    ],
    "rotation_matrix_light": [
      [
        0.30015304294796663,
        0.49638329357884725,
        0.8145623221490741
      ],
      [
        0.4214847570326239,
        0.6970382889440662,
        -0.580076049613392
      ],
      [
        -0.8557211873023982,
        0.5174371938716277,
        1.7158867143818313e-07
      ]
    ],
    "servo_angle": [
      [
        145.886858,
        21.327265,
        -82.209818,
        252.385044,
        60.194373,
        -195.662222,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.322918,
        -24.206206,
        -20.555377,
        -218.660404,
        52.529458,
        57.700746,
        0.0
      ]
    ],
    "turn_angle": 917.8954310846784,
    "filename": "scan-0286_light-28_camera-286.png"
  },
  {
    "id": 287,
    "scan_id": "0287",
    "camera_id": 287,
    "light_id": 28,
    "position": [
      -232.504318,
      -136.381149,
      260.266327
    ],
    "rotation_matrix": [
      [
        0.6705569854534734,
        0.7418580205443773,
        -8.132360778306813e-05
      ],
      [
        -6.303465918400253e-05,
        0.0001665978315416594,
        0.9999999841358973
      ],
      [
        0.741858022323802,
        -0.6705569696894824,
        0.00015847610718960903
      ]
    ],
    "position_light": [
      363.148071,
      213.279465,
      168.201172
    ],
    "rotation_matrix_light": [
      [
        0.30015304294796663,
        0.49638329357884725,
        0.8145623221490741
      ],
      [
        0.4214847570326239,
        0.6970382889440662,
        -0.580076049613392
      ],
      [
        -0.8557211873023982,
        0.5174371938716277,
        1.7158867143818313e-07
      ]
    ],
    "servo_angle": [
      [
        144.956317,
        18.279302,
        -80.373947,
        252.441137,
        59.045134,
        -194.388365,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.322918,
        -24.206206,
        -20.555377,
        -218.660404,
        52.529458,
        57.700746,
        0.0
      ]
    ],
    "turn_angle": 917.8954310846784,
    "filename": "scan-0287_light-28_camera-287.png"
  },
  {
    "id": 288,
    "scan_id": "0288",
    "camera_id": 288,
    "light_id": 28,
    "position": [
      -202.537704,
      -136.381149,
      293.363281
    ],
    "rotation_matrix": [
      [
        0.7328983059511861,
        0.680338201635198,
        -6.730279691691265e-05
      ],
      [
        -6.302366409893789e-05,
        0.0001668181093269494,
        0.999999984099868
      ],
      [
        0.680338202045056,
        -0.7328982900563373,
        0.00016513811602125728
      ]
    ],
    "position_light": [
      363.148071,
      213.279465,
      168.201172
    ],
    "rotation_matrix_light": [
      [
        0.30015304294796663,
        0.49638329357884725,
        0.8145623221490741
      ],
      [
        0.4214847570326239,
        0.6970382889440662,
        -0.580076049613392
      ],
      [
        -0.8557211873023982,
        0.5174371938716277,
        1.7158867143818313e-07
      ]
    ],
    "servo_angle": [
      [
        142.618076,
        11.770215,
        -76.592311,
        252.567875,
        56.222859,
        -191.670597,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.322918,
        -24.206206,
        -20.555377,
        -218.660404,
        52.529458,
        57.700746,
        0.0
      ]
    ],
    "turn_angle": 917.8954310846784,
    "filename": "scan-0288_light-28_camera-288.png"
  },
  {
    "id": 289,
    "scan_id": "0289",
    "camera_id": 289,
    "light_id": 28,
    "position": [
      -166.686234,
      -136.381149,
      326.323303
    ],
    "rotation_matrix": [
      [
        0.7944754409364518,
        0.6072962794787049,
        -5.177020438007496e-05
      ],
      [
        -6.275847686709746e-05,
        0.00016734874816276557,
        0.9999999840278854
      ],
      [
        0.6072962784425777,
        -0.7944754249979794,
        0.00017106745999390105
      ]
    ],
    "position_light": [
      363.148071,
      213.279465,
      168.201172
    ],
    "rotation_matrix_light": [
      [
        0.30015304294796663,
        0.49638329357884725,
        0.8145623221490741
      ],
      [
        0.4214847570326239,
        0.6970382889440662,
        -0.580076049613392
      ],
      [
        -0.8557211873023982,
        0.5174371938716277,
        1.7158867143818313e-07
      ]
    ],
    "servo_angle": [
      [
        139.485028,
        4.877819,
        -72.801049,
        252.716672,
        52.551402,
        -188.736308,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.322918,
        -24.206206,
        -20.555377,
        -218.660404,
        52.529458,
        57.700746,
        0.0
      ]
    ],
    "turn_angle": 917.8954310846784,
    "filename": "scan-0289_light-28_camera-289.png"
  },
  {
    "id": 290,
    "scan_id": "0290",
    "camera_id": 290,
    "light_id": 29,
    "position": [
      -155.628601,
      -136.381149,
      335.29541
    ],
    "rotation_matrix": [
      [
        0.8111280800351319,
        0.5848685627095349,
        -4.618012179191666e-05
      ],
      [
        -6.326698803704733e-05,
        0.00016670027731069403,
        0.9999999841041528
      ],
      [
        0.5848685611107927,
        -0.8111280642198867,
        0.00017221814823653592
      ]
    ],
    "position_light": [
      -43.430279,
      202.942322,
      286.254852
    ],
    "rotation_matrix_light": [
      [
        0.3901675308524267,
        -0.41290083505914493,
        -0.8229715658976203
      ],
      [
        -0.5652287845807535,
        0.5981627030811911,
        -0.568082565939113
      ],
      [
        0.7268326622750828,
        0.6868145900096062,
        2.2775634289651236e-07
      ]
    ],
    "servo_angle": [
      [
        138.436515,
        2.915782,
        -71.763651,
        252.761649,
        51.344925,
        -187.87458,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -131.111193,
        -19.80824,
        -45.643709,
        -149.185777,
        28.163225,
        109.205125,
        0.0
      ]
    ],
    "turn_angle": 938.873009186523,
    "filename": "scan-0290_light-29_camera-290.png"
  },
  {
    "id": 291,
    "scan_id": "0291",
    "camera_id": 291,
    "light_id": 29,
    "position": [
      -135.503845,
      -136.381149,
      350.373718
    ],
    "rotation_matrix": [
      [
        0.8389839450766372,
        0.5441561710328676,
        -3.782182873501849e-05
      ],
      [
        -6.292110953698415e-05,
        0.00016651769044867537,
        0.9999999841563961
      ],
      [
        0.5441561687094765,
        -0.8389839294043165,
        0.00017394457890046455
      ]
    ],
    "position_light": [
      -43.430279,
      202.942322,
      286.254852
    ],
    "rotation_matrix_light": [
      [
        0.3901675308524267,
        -0.41290083505914493,
        -0.8229715658976203
      ],
      [
        -0.5652287845807535,
        0.5981627030811911,
        -0.568082565939113
      ],
      [
        0.7268326622750828,
        0.6868145900096062,
        2.2775634289651236e-07
      ]
    ],
    "servo_angle": [
      [
        136.419475,
        -0.477675,
        -70.015557,
        252.840144,
        49.05,
        -186.335844,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -131.111193,
        -19.80824,
        -45.643709,
        -149.185777,
        28.163225,
        109.205125,
        0.0
      ]
    ],
    "turn_angle": 938.873009186523,
    "filename": "scan-0291_light-29_camera-291.png"
  },
  {
    "id": 292,
    "scan_id": "0292",
    "camera_id": 292,
    "light_id": 29,
    "position": [
      -91.104332,
      -136.381149,
      378.626465
    ],
    "rotation_matrix": [
      [
        0.8906152556389033,
        0.4547575904118373,
        -1.9648679903588873e-05
      ],
      [
        -6.323367788724221e-05,
        0.0001670462668207362,
        0.9999999840485233
      ],
      [
        0.45475758644002073,
        -0.8906152401898165,
        0.00017752994861697236
      ]
    ],
    "position_light": [
      -43.430279,
      202.942322,
      286.254852
    ],
    "rotation_matrix_light": [
      [
        0.3901675308524267,
        -0.41290083505914493,
        -0.8229715658976203
      ],
      [
        -0.5652287845807535,
        0.5981627030811911,
        -0.568082565939113
      ],
      [
        0.7268326622750828,
        0.6868145900096062,
        2.2775634289651236e-07
      ]
    ],
    "servo_angle": [
      [
        131.426377,
        -7.209872,
        -66.735889,
        252.973357,
        43.48996,
        -182.970176,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -131.111193,
        -19.80824,
        -45.643709,
        -149.185777,
        28.163225,
        109.205125,
        0.0
      ]
    ],
    "turn_angle": 938.873009186523,
    "filename": "scan-0292_light-29_camera-292.png"
  },
  {
    "id": 293,
    "scan_id": "0293",
    "camera_id": 293,
    "light_id": 29,
    "position": [
      -53.834518,
      -136.381149,
      397.744659
    ],
    "rotation_matrix": [
      [
        0.9249444079420304,
        0.380102410135301,
        -5.109076877479746e-06
      ],
      [
        -6.289439552997766e-05,
        0.0001664890685917908,
        0.9999999841628425
      ],
      [
        0.38010240496616465,
        -0.9249443929722078,
        0.00017789944430240956
      ]
    ],
    "position_light": [
      -43.430279,
      202.942322,
      286.254852
    ],
    "rotation_matrix_light": [
      [
        0.3901675308524267,
        -0.41290083505914493,
        -0.8229715658976203
      ],
      [
        -0.5652287845807535,
        0.5981627030811911,
        -0.568082565939113
      ],
      [
        0.7268326622750828,
        0.6868145900096062,
        2.2775634289651236e-07
      ]
    ],
    "servo_angle": [
      [
        126.596228,
        -12.088435,
        -64.545816,
        252.976967,
        38.239432,
        -180.016464,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -131.111193,
        -19.80824,
        -45.643709,
        -149.185777,
        28.163225,
        109.205125,
        0.0
      ]
    ],
    "turn_angle": 938.873009186523,
    "filename": "scan-0293_light-29_camera-293.png"
  },
  {
    "id": 294,
    "scan_id": "0294",
    "camera_id": 294,
    "light_id": 29,
    "position": [
      -50.696243,
      -136.381149,
      399.181976
    ],
    "rotation_matrix": [
      [
        0.9274972392628866,
        0.3738300030020236,
        -3.902671657923795e-06
      ],
      [
        -6.306798302505023e-05,
        0.00016691557990622385,
        0.9999999840808093
      ],
      [
        0.37382999770236924,
        -0.9274972242517475,
        0.00017839044383649583
      ]
    ],
    "position_light": [
      -43.430279,
      202.942322,
      286.254852
    ],
    "rotation_matrix_light": [
      [
        0.3901675308524267,
        -0.41290083505914493,
        -0.8229715658976203
      ],
      [
        -0.5652287845807535,
        0.5981627030811911,
        -0.568082565939113
      ],
      [
        0.7268326622750828,
        0.6868145900096062,
        2.2775634289651236e-07
      ]
    ],
    "servo_angle": [
      [
        126.161124,
        -12.466759,
        -64.384127,
        252.96906,
        37.771498,
        -179.756112,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -131.111193,
        -19.80824,
        -45.643709,
        -149.185777,
        28.163225,
        109.205125,
        0.0
      ]
    ],
    "turn_angle": 938.873009186523,
    "filename": "scan-0294_light-29_camera-294.png"
  },
  {
    "id": 295,
    "scan_id": "0295",
    "camera_id": 295,
    "light_id": 29,
    "position": [
      5.122931,
      -136.381149,
      420.665436
    ],
    "rotation_matrix": [
      [
        0.9648992076112881,
        0.2626204844941121,
        1.6588745289175533e-05
      ],
      [
        -6.271464817728112e-05,
        0.0001672549245042565,
        0.9999999840463316
      ],
      [
        0.26262047752980267,
        -0.9648991932579634,
        0.00017785429541244957
      ]
    ],
    "position_light": [
      -43.430279,
      202.942322,
      286.254852
    ],
    "rotation_matrix_light": [
      [
        0.3901675308524267,
        -0.41290083505914493,
        -0.8229715658976203
      ],
      [
        -0.5652287845807535,
        0.5981627030811911,
        -0.568082565939113
      ],
      [
        0.7268326622750828,
        0.6868145900096062,
        2.2775634289651236e-07
      ]
    ],
    "servo_angle": [
      [
        117.669832,
        -18.308694,
        -62.116704,
        252.413463,
        28.77268,
        -174.561504,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -131.111193,
        -19.80824,
        -45.643709,
        -149.185777,
        28.163225,
        109.205125,
        0.0
      ]
    ],
    "turn_angle": 938.873009186523,
    "filename": "scan-0295_light-29_camera-295.png"
  },
  {
    "id": 296,
    "scan_id": "0296",
    "camera_id": 296,
    "light_id": 29,
    "position": [
      30.282011,
      -136.381149,
      427.981812
    ],
    "rotation_matrix": [
      [
        0.9771184787589511,
        0.21269573999038743,
        2.5646350572464116e-05
      ],
      [
        -6.253677839712646e-05,
        0.00016671463006068254,
        0.9999999841476918
      ],
      [
        0.21269573234304712,
        -0.9771184648732077,
        0.00017620125206951887
      ]
    ],
    "position_light": [
      -43.430279,
      202.942322,
      286.254852
    ],
    "rotation_matrix_light": [
      [
        0.3901675308524267,
        -0.41290083505914493,
        -0.8229715658976203
      ],
      [
        -0.5652287845807535,
        0.5981627030811911,
        -0.568082565939113
      ],
      [
        0.7268326622750828,
        0.6868145900096062,
        2.2775634289651236e-07
      ]
    ],
    "servo_angle": [
      [
        113.3974,
        -20.354326,
        -61.50341,
        251.715027,
        24.321829,
        -171.660275,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -131.111193,
        -19.80824,
        -45.643709,
        -149.185777,
        28.163225,
        109.205125,
        0.0
      ]
    ],
    "turn_angle": 938.873009186523,
    "filename": "scan-0296_light-29_camera-296.png"
  },
  {
    "id": 297,
    "scan_id": "0297",
    "camera_id": 297,
    "light_id": 29,
    "position": [
      66.59066,
      -136.381149,
      436.131256
    ],
    "rotation_matrix": [
      [
        0.9900312162736198,
        0.1408481070864974,
        3.9165391114870385e-05
      ],
      [
        -6.336320940014684e-05,
        0.0001673161625588837,
        0.9999999839952027
      ],
      [
        0.14084809827924902,
        -0.9900312029100156,
        0.00017457281202343244
      ]
    ],
    "position_light": [
      -43.430279,
      202.942322,
      286.254852
    ],
    "rotation_matrix_light": [
      [
        0.3901675308524267,
        -0.41290083505914493,
        -0.8229715658976203
      ],
      [
        -0.5652287845807535,
        0.5981627030811911,
        -0.568082565939113
      ],
      [
        0.7268326622750828,
        0.6868145900096062,
        2.2775634289651236e-07
      ]
    ],
    "servo_angle": [
      [
        106.853019,
        -22.590293,
        -61.169261,
        249.691569,
        17.573303,
        -166.318533,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -131.111193,
        -19.80824,
        -45.643709,
        -149.185777,
        28.163225,
        109.205125,
        0.0
      ]
    ],
    "turn_angle": 938.873009186523,
    "filename": "scan-0297_light-29_camera-297.png"
  },
  {
    "id": 298,
    "scan_id": "0298",
    "camera_id": 298,
    "light_id": 29,
    "position": [
      85.919472,
      -136.381149,
      439.350983
    ],
    "rotation_matrix": [
      [
        0.9947129270758991,
        0.10269464769145796,
        4.520646228071967e-05
      ],
      [
        -6.267326672247664e-05,
        0.00016685822887074764,
        0.9999999841151963
      ],
      [
        0.10269463851710342,
        -0.9947129141083162,
        0.00017241224629249707
      ]
    ],
    "position_light": [
      -43.430279,
      202.942322,
      286.254852
    ],
    "rotation_matrix_light": [
      [
        0.3901675308524267,
        -0.41290083505914493,
        -0.8229715658976203
      ],
      [
        -0.5652287845807535,
        0.5981627030811911,
        -0.568082565939113
      ],
      [
        0.7268326622750828,
        0.6868145900096062,
        2.2775634289651236e-07
      ]
    ],
    "servo_angle": [
      [
        103.27146,
        -23.407732,
        -61.325163,
        247.787631,
        13.900758,
        -162.579181,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -131.111193,
        -19.80824,
        -45.643709,
        -149.185777,
        28.163225,
        109.205125,
        0.0
      ]
    ],
    "turn_angle": 938.873009186523,
    "filename": "scan-0298_light-29_camera-298.png"
  },
  {
    "id": 299,
    "scan_id": "0299",
    "camera_id": 299,
    "light_id": 29,
    "position": [
      136.141907,
      -136.381149,
      444.203918
    ],
    "rotation_matrix": [
      [
        0.9999925675272909,
        0.0038549969180795077,
        6.236135056915913e-05
      ],
      [
        -6.300591778712482e-05,
        0.00016708182551600226,
        0.9999999840569588
      ],
      [
        0.003854986437170838,
        -0.9999925555135024,
        0.0001673234713038263
      ]
    ],
    "position_light": [
      -43.430279,
      202.942322,
      286.254852
    ],
    "rotation_matrix_light": [
      [
        0.3901675308524267,
        -0.41290083505914493,
        -0.8229715658976203
      ],
      [
        -0.5652287845807535,
        0.5981627030811911,
        -0.568082565939113
      ],
      [
        0.7268326622750828,
        0.6868145900096062,
        2.2775634289651236e-07
      ]
    ],
    "servo_angle": [
      [
        94.476099,
        -24.212165,
        -63.348792,
        237.160295,
        4.75956,
        -146.933537,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -131.111193,
        -19.80824,
        -45.643709,
        -149.185777,
        28.163225,
        109.205125,
        0.0
      ]
    ],
    "turn_angle": 938.873009186523,
    "filename": "scan-0299_light-29_camera-299.png"
  },
  {
    "id": 300,
    "scan_id": "0300",
    "camera_id": 300,
    "light_id": 30,
    "position": [
      140.762939,
      -136.381149,
      444.399414
    ],
    "rotation_matrix": [
      [
        0.9999863843183929,
        -0.005217959170266031,
        6.38742893455794e-05
      ],
      [
        -6.300552820547728e-05,
        0.0001666586420283056,
        0.9999999841276
      ],
      [
        -0.005217969732646819,
        -0.9999863724706425,
        0.0001663276125835611
      ]
    ],
    "position_light": [
      359.178253,
      211.025223,
      195.221634
    ],
    "rotation_matrix_light": [
      [
        0.32409674738753036,
        0.47620214560488444,
        0.8174306177616106
      ],
      [
        0.45992013930371883,
        0.6757708785653692,
        -0.5760270698030061
      ],
      [
        -0.8267011332976819,
        0.562641303322369,
        1.8657892164597456e-07
      ]
    ],
    "servo_angle": [
      [
        93.786487,
        -24.18896,
        -63.686665,
        235.507713,
        4.006407,
        -144.797608,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.377922,
        -28.069374,
        -22.140178,
        -222.051054,
        48.567169,
        65.64303,
        0.0
      ]
    ],
    "turn_angle": 957.924406009566,
    "filename": "scan-0300_light-30_camera-300.png"
  },
  {
    "id": 301,
    "scan_id": "0301",
    "camera_id": 301,
    "light_id": 30,
    "position": [
      152.914017,
      -136.381149,
      444.713257
    ],
    "rotation_matrix": [
      [
        0.9995776988792766,
        -0.02905889373152283,
        6.781084021890808e-05
      ],
      [
        -6.297977841291519e-05,
        0.00016716593549398473,
        0.9999999840445486
      ],
      [
        -0.029058904603537605,
        -0.9995776872012749,
        0.00016526521844389963
      ]
    ],
    "position_light": [
      359.178253,
      211.025223,
      195.221634
    ],
    "rotation_matrix_light": [
      [
        0.32409674738753036,
        0.47620214560488444,
        0.8174306177616106
      ],
      [
        0.45992013930371883,
        0.6757708785653692,
        -0.5760270698030061
      ],
      [
        -0.8267011332976819,
        0.562641303322369,
        1.8657892164597456e-07
      ]
    ],
    "servo_angle": [
      [
        92.167996,
        -24.057638,
        -64.705499,
        230.364271,
        2.160796,
        -138.363005,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.377922,
        -28.069374,
        -22.140178,
        -222.051054,
        48.567169,
        65.64303,
        0.0
      ]
    ],
    "turn_angle": 957.924406009566,
    "filename": "scan-0301_light-30_camera-301.png"
  },
  {
    "id": 302,
    "scan_id": "0302",
    "camera_id": 302,
    "light_id": 30,
    "position": [
      182.757736,
      -136.381149,
      444.254303
    ],
    "rotation_matrix": [
      [
        0.9961635586504088,
        -0.08751090485697043,
        7.712371456933265e-05
      ],
      [
        -6.276466577552486e-05,
        0.00016683452823984535,
        0.9999999841134181
      ],
      [
        -0.08751091633361982,
        -0.9961635476654193,
        0.00016070188466210666
      ]
    ],
    "position_light": [
      359.178253,
      211.025223,
      195.221634
    ],
    "rotation_matrix_light": [
      [
        0.32409674738753036,
        0.47620214560488444,
        0.8174306177616106
      ],
      [
        0.45992013930371883,
        0.6757708785653692,
        -0.5760270698030061
      ],
      [
        -0.8267011332976819,
        0.562641303322369,
        1.8657892164597456e-07
      ]
    ],
    "servo_angle": [
      [
        89.911517,
        -23.464398,
        -67.626037,
        212.065374,
        -1.192268,
        -116.784326,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.377922,
        -28.069374,
        -22.140178,
        -222.051054,
        48.567169,
        65.64303,
        0.0
      ]
    ],
    "turn_angle": 957.924406009566,
    "filename": "scan-0302_light-30_camera-302.png"
  },
  {
    "id": 303,
    "scan_id": "0303",
    "camera_id": 303,
    "light_id": 30,
    "position": [
      217.474167,
      -136.381149,
      441.512146
    ],
    "rotation_matrix": [
      [
        0.9878641123016239,
        -0.15532059684872174,
        8.843687890247587e-05
      ],
      [
        -6.322451209393731e-05,
        0.0001672646867210692,
        0.9999999840125927
      ],
      [
        -0.15532060915791496,
        -0.9878641020996165,
        0.00015541471231311776
      ]
    ],
    "position_light": [
      359.178253,
      211.025223,
      195.221634
    ],
    "rotation_matrix_light": [
      [
        0.32409674738753036,
        0.47620214560488444,
        0.8174306177616106
      ],
      [
        0.45992013930371883,
        0.6757708785653692,
        -0.5760270698030061
      ],
      [
        -0.8267011332976819,
        0.562641303322369,
        1.8657892164597456e-07
      ]
    ],
    "servo_angle": [
      [
        90.408214,
        -23.123431,
        -69.088683,
        182.985015,
        -2.272924,
        -83.816334,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.377922,
        -28.069374,
        -22.140178,
        -222.051054,
        48.567169,
        65.64303,
        0.0
      ]
    ],
    "turn_angle": 957.924406009566,
    "filename": "scan-0303_light-30_camera-303.png"
  },
  {
    "id": 304,
    "scan_id": "0304",
    "camera_id": 304,
    "light_id": 30,
    "position": [
      268.558655,
      -136.381149,
      433.069122
    ],
    "rotation_matrix": [
      [
        0.9670125923776463,
        -0.2547285526096653,
        0.00010328818509672266
      ],
      [
        -6.285200986336226e-05,
        0.0001668815608805163,
        0.9999999841000846
      ],
      [
        -0.25472856579639647,
        -0.9670125834940979,
        0.0001453663693059548
      ]
    ],
    "position_light": [
      359.178253,
      211.025223,
      195.221634
    ],
    "rotation_matrix_light": [
      [
        0.32409674738753036,
        0.47620214560488444,
        0.8174306177616106
      ],
      [
        0.45992013930371883,
        0.6757708785653692,
        -0.5760270698030061
      ],
      [
        -0.8267011332976819,
        0.562641303322369,
        1.8657892164597456e-07
      ]
    ],
    "servo_angle": [
      [
        89.407829,
        -24.175782,
        -64.236189,
        145.931606,
        1.710336,
        -40.873606,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.377922,
        -28.069374,
        -22.140178,
        -222.051054,
        48.567169,
        65.64303,
        0.0
      ]
    ],
    "turn_angle": 957.924406009566,
    "filename": "scan-0304_light-30_camera-304.png"
  },
  {
    "id": 305,
    "scan_id": "0305",
    "camera_id": 305,
    "light_id": 30,
    "position": [
      296.238647,
      -136.381149,
      426.219757
    ],
    "rotation_matrix": [
      [
        0.9512563332776952,
        -0.3084013230318803,
        0.00011113622683237012
      ],
      [
        -6.279086327576344e-05,
        0.00016668546749720736,
        0.9999999841366314
      ],
      [
        -0.3084013366643903,
        -0.9512563251659047,
        0.00013919582131360908
      ]
    ],
    "position_light": [
      359.178253,
      211.025223,
      195.221634
    ],
    "rotation_matrix_light": [
      [
        0.32409674738753036,
        0.47620214560488444,
        0.8174306177616106
      ],
      [
        0.45992013930371883,
        0.6757708785653692,
        -0.5760270698030061
      ],
      [
        -0.8267011332976819,
        0.562641303322369,
        1.8657892164597456e-07
      ]
    ],
    "servo_angle": [
      [
        86.003543,
        -24.610313,
        -61.028542,
        134.426384,
        5.998582,
        -26.233617,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.377922,
        -28.069374,
        -22.140178,
        -222.051054,
        48.567169,
        65.64303,
        0.0
      ]
    ],
    "turn_angle": 957.924406009566,
    "filename": "scan-0305_light-30_camera-305.png"
  },
  {
    "id": 306,
    "scan_id": "0306",
    "camera_id": 306,
    "light_id": 30,
    "position": [
      339.887421,
      -136.381149,
      411.967865
    ],
    "rotation_matrix": [
      [
        0.9196464413636303,
        -0.39274725680915856,
        0.00012311008002294233
      ],
      [
        -6.253414425147485e-05,
        0.0001670305105966885,
        0.9999999840951446
      ],
      [
        -0.39274727112570973,
        -0.9196464344353701,
        0.0001290489010576379
      ]
    ],
    "position_light": [
      359.178253,
      211.025223,
      195.221634
    ],
    "rotation_matrix_light": [
      [
        0.32409674738753036,
        0.47620214560488444,
        0.8174306177616106
      ],
      [
        0.45992013930371883,
        0.6757708785653692,
        -0.5760270698030061
      ],
      [
        -0.8267011332976819,
        0.562641303322369,
        1.8657892164597456e-07
      ]
    ],
    "servo_angle": [
      [
        78.585287,
        -24.132753,
        -57.509493,
        125.069238,
        14.227516,
        -12.258375,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.377922,
        -28.069374,
        -22.140178,
        -222.051054,
        48.567169,
        65.64303,
        0.0
      ]
    ],
    "turn_angle": 957.924406009566,
    "filename": "scan-0306_light-30_camera-306.png"
  },
  {
    "id": 307,
    "scan_id": "0307",
    "camera_id": 307,
    "light_id": 30,
    "position": [
      364.825745,
      -136.381149,
      401.802155
    ],
    "rotation_matrix": [
      [
        0.8976215426852275,
        -0.44076700101410826,
        0.00013009389458690235
      ],
      [
        -6.283813649440861e-05,
        0.00016718363063217279,
        0.9999999840505011
      ],
      [
        -0.44076701573366506,
        -0.8976215365434715,
        0.0001223706514678069
      ]
    ],
    "position_light": [
      359.178253,
      211.025223,
      195.221634
    ],
    "rotation_matrix_light": [
      [
        0.32409674738753036,
        0.47620214560488444,
        0.8174306177616106
      ],
      [
        0.45992013930371883,
        0.6757708785653692,
        -0.5760270698030061
      ],
      [
        -0.8267011332976819,
        0.562641303322369,
        1.8657892164597456e-07
      ]
    ],
    "servo_angle": [
      [
        74.002599,
        -23.142567,
        -56.257064,
        122.430252,
        19.234308,
        -7.16392,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.377922,
        -28.069374,
        -22.140178,
        -222.051054,
        48.567169,
        65.64303,
        0.0
      ]
    ],
    "turn_angle": 957.924406009566,
    "filename": "scan-0307_light-30_camera-307.png"
  },
  {
    "id": 308,
    "scan_id": "0308",
    "camera_id": 308,
    "light_id": 30,
    "position": [
      373.942841,
      -136.381149,
      397.694611
    ],
    "rotation_matrix": [
      [
        0.8888033202070402,
        -0.4582888176875203,
        0.00013255759603864048
      ],
      [
        -6.310503048226335e-05,
        0.00016685904251567685,
        0.9999999840879074
      ],
      [
        -0.4582888325136197,
        -0.8888033144293707,
        0.0001193845411846528
      ]
    ],
    "position_light": [
      359.178253,
      211.025223,
      195.221634
    ],
    "rotation_matrix_light": [
      [
        0.32409674738753036,
        0.47620214560488444,
        0.8174306177616106
      ],
      [
        0.45992013930371883,
        0.6757708785653692,
        -0.5760270698030061
      ],
      [
        -0.8267011332976819,
        0.562641303322369,
        1.8657892164597456e-07
      ]
    ],
    "servo_angle": [
      [
        72.329218,
        -22.649251,
        -55.910769,
        121.756454,
        21.073731,
        -5.62507,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.377922,
        -28.069374,
        -22.140178,
        -222.051054,
        48.567169,
        65.64303,
        0.0
      ]
    ],
    "turn_angle": 957.924406009566,
    "filename": "scan-0308_light-30_camera-308.png"
  },
  {
    "id": 309,
    "scan_id": "0309",
    "camera_id": 309,
    "light_id": 30,
    "position": [
      410.888733,
      -136.381149,
      378.748413
    ],
    "rotation_matrix": [
      [
        0.8485576726167513,
        -0.5291028787090963,
        0.00014136827564570353
      ],
      [
        -6.27949313028453e-05,
        0.0001664764192257362,
        0.999999984171199
      ],
      [
        -0.5291028938685165,
        -0.848557668062312,
        0.00010803986392304843
      ]
    ],
    "position_light": [
      359.178253,
      211.025223,
      195.221634
    ],
    "rotation_matrix_light": [
      [
        0.32409674738753036,
        0.47620214560488444,
        0.8174306177616106
      ],
      [
        0.45992013930371883,
        0.6757708785653692,
        -0.5760270698030061
      ],
      [
        -0.8267011332976819,
        0.562641303322369,
        1.8657892164597456e-07
      ]
    ],
    "servo_angle": [
      [
        65.729145,
        -19.936124,
        -55.031336,
        120.056717,
        28.439104,
        -0.596965,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -65.377922,
        -28.069374,
        -22.140178,
        -222.051054,
        48.567169,
        65.64303,
        0.0
      ]
    ],
    "turn_angle": 957.924406009566,
    "filename": "scan-0309_light-30_camera-309.png"
  },
  {
    "id": 310,
    "scan_id": "0310",
    "camera_id": 310,
    "light_id": 31,
    "position": [
      438.432861,
      -136.381149,
      362.004639
    ],
    "rotation_matrix": [
      [
        0.8134209283587639,
        -0.5816754862949558,
        0.0001481603637227269
      ],
      [
        -6.263660558436523e-05,
        0.00016712142386909878,
        0.9999999840735425
      ],
      [
        -0.5816755017916968,
        -0.8134209246841124,
        9.95058857390374e-05
      ]
    ],
    "position_light": [
      425.990051,
      200.4944,
      292.962433
    ],
    "rotation_matrix_light": [
      [
        0.4494156027839634,
        0.5207632998699326,
        0.7258313863996964
      ],
      [
        0.47421536607905357,
        0.5495006715714381,
        -0.6878726615566633
      ],
      [
        -0.7570636713968224,
        0.6533411034452961,
        2.166561144933965e-07
      ]
    ],
    "servo_angle": [
      [
        61.106923,
        -17.174238,
        -54.867699,
        119.48353,
        33.744006,
        2.280315,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.461505,
        -25.071544,
        -42.393319,
        -203.144593,
        24.270836,
        62.373733,
        0.0
      ]
    ],
    "turn_angle": 1000.628238318651,
    "filename": "scan-0310_light-31_camera-310.png"
  },
  {
    "id": 311,
    "scan_id": "0311",
    "camera_id": 311,
    "light_id": 31,
    "position": [
      477.447266,
      -136.381149,
      333.854645
    ],
    "rotation_matrix": [
      [
        0.754963410602449,
        -0.6557668976901061,
        0.00015666975599437638
      ],
      [
        -6.266789665115846e-05,
        0.0001667631972618322,
        0.9999999841313855
      ],
      [
        -0.6557669134107432,
        -0.7549634084403894,
        8.480457999604507e-05
      ]
    ],
    "position_light": [
      425.990051,
      200.4944,
      292.962433
    ],
    "rotation_matrix_light": [
      [
        0.4494156027839634,
        0.5207632998699326,
        0.7258313863996964
      ],
      [
        0.47421536607905357,
        0.5495006715714381,
        -0.6878726615566633
      ],
      [
        -0.7570636713968224,
        0.6533411034452961,
        2.166561144933965e-07
      ]
    ],
    "servo_angle": [
      [
        55.110175,
        -12.178562,
        -55.309564,
        119.208052,
        40.883346,
        5.596193,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.461505,
        -25.071544,
        -42.393319,
        -203.144593,
        24.270836,
        62.373733,
        0.0
      ]
    ],
    "turn_angle": 1000.628238318651,
    "filename": "scan-0311_light-31_camera-311.png"
  },
  {
    "id": 312,
    "scan_id": "0312",
    "camera_id": 312,
    "light_id": 31,
    "position": [
      509.272095,
      -136.381149,
      306.30423
    ],
    "rotation_matrix": [
      [
        0.6982860623040013,
        -0.7158187958831796,
        0.00016325540405331962
      ],
      [
        -6.285037508224622e-05,
        0.00016675709162289332,
        0.9999999841209511
      ],
      [
        -0.7158188117406545,
        -0.6982860614765464,
        7.145467305841313e-05
      ]
    ],
    "position_light": [
      425.990051,
      200.4944,
      292.962433
    ],
    "rotation_matrix_light": [
      [
        0.4494156027839634,
        0.5207632998699326,
        0.7258313863996964
      ],
      [
        0.47421536607905357,
        0.5495006715714381,
        -0.6878726615566633
      ],
      [
        -0.7570636713968224,
        0.6533411034452961,
        2.166561144933965e-07
      ]
    ],
    "servo_angle": [
      [
        50.720688,
        -7.127824,
        -56.2703,
        119.230798,
        46.360995,
        7.917303,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.461505,
        -25.071544,
        -42.393319,
        -203.144593,
        24.270836,
        62.373733,
        0.0
      ]
    ],
    "turn_angle": 1000.628238318651,
    "filename": "scan-0312_light-31_camera-312.png"
  },
  {
    "id": 313,
    "scan_id": "0313",
    "camera_id": 313,
    "light_id": 31,
    "position": [
      518.580994,
      -136.381149,
      297.322357
    ],
    "rotation_matrix": [
      [
        0.6798978445883119,
        -0.7333068210198028,
        0.00016483324305877067
      ],
      [
        -6.254808956951408e-05,
        0.0001667882060501502,
        0.9999999841347151
      ],
      [
        -0.7333068368779223,
        -0.6798978441115435,
        6.753200107317836e-05
      ]
    ],
    "position_light": [
      425.990051,
      200.4944,
      292.962433
    ],
    "rotation_matrix_light": [
      [
        0.4494156027839634,
        0.5207632998699326,
        0.7258313863996964
      ],
      [
        0.47421536607905357,
        0.5495006715714381,
        -0.6878726615566633
      ],
      [
        -0.7570636713968224,
        0.6533411034452961,
        2.166561144933965e-07
      ]
    ],
    "servo_angle": [
      [
        49.520628,
        -5.473638,
        -56.661229,
        119.260707,
        47.90672,
        8.561651,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.461505,
        -25.071544,
        -42.393319,
        -203.144593,
        24.270836,
        62.373733,
        0.0
      ]
    ],
    "turn_angle": 1000.628238318651,
    "filename": "scan-0313_light-31_camera-313.png"
  },
  {
    "id": 314,
    "scan_id": "0314",
    "camera_id": 314,
    "light_id": 31,
    "position": [
      545.585327,
      -136.381149,
      268.439301
    ],
    "rotation_matrix": [
      [
        0.621015241786117,
        -0.7837984694795903,
        0.0001694425636148411
      ],
      [
        -6.2723908235085e-05,
        0.0001664841958437524,
        0.9999999841743619
      ],
      [
        -0.7837984852849883,
        -0.6210152425862543,
        5.4226319861072625e-05
      ]
    ],
    "position_light": [
      425.990051,
      200.4944,
      292.962433
    ],
    "rotation_matrix_light": [
      [
        0.4494156027839634,
        0.5207632998699326,
        0.7258313863996964
      ],
      [
        0.47421536607905357,
        0.5495006715714381,
        -0.6878726615566633
      ],
      [
        -0.7570636713968224,
        0.6533411034452961,
        2.166561144933965e-07
      ]
    ],
    "servo_angle": [
      [
        46.244398,
        -0.175096,
        -58.110411,
        119.382747,
        52.260741,
        10.403825,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.461505,
        -25.071544,
        -42.393319,
        -203.144593,
        24.270836,
        62.373733,
        0.0
      ]
    ],
    "turn_angle": 1000.628238318651,
    "filename": "scan-0314_light-31_camera-314.png"
  },
  {
    "id": 315,
    "scan_id": "0315",
    "camera_id": 315,
    "light_id": 31,
    "position": [
      573.72406,
      -136.381149,
      232.809067
    ],
    "rotation_matrix": [
      [
        0.5488127503203883,
        -0.835945294017773,
        0.00017462906534665423
      ],
      [
        -6.311332629610478e-05,
        0.00016746510251985924,
        0.9999999839860738
      ],
      [
        -0.8359453098752809,
        -0.5488127525531625,
        3.914769538959639e-05
      ]
    ],
    "position_light": [
      425.990051,
      200.4944,
      292.962433
    ],
    "rotation_matrix_light": [
      [
        0.4494156027839634,
        0.5207632998699326,
        0.7258313863996964
      ],
      [
        0.47421536607905357,
        0.5495006715714381,
        -0.6878726615566633
      ],
      [
        -0.7570636713968224,
        0.6533411034452961,
        2.166561144933965e-07
      ]
    ],
    "servo_angle": [
      [
        43.13507,
        6.263517,
        -60.205947,
        119.545524,
        56.627825,
        12.382764,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.461505,
        -25.071544,
        -42.393319,
        -203.144593,
        24.270836,
        62.373733,
        0.0
      ]
    ],
    "turn_angle": 1000.628238318651,
    "filename": "scan-0315_light-31_camera-315.png"
  },
  {
    "id": 316,
    "scan_id": "0316",
    "camera_id": 316,
    "light_id": 31,
    "position": [
      585.28479,
      -136.381149,
      216.052811
    ],
    "rotation_matrix": [
      [
        0.5149988593521697,
        -0.8571908446154481,
        0.00017542354064714605
      ],
      [
        -6.282909623239741e-05,
        0.00016690171840078039,
        0.9999999840981604
      ],
      [
        -0.8571908602630272,
        -0.514998862184443,
        3.209766853445872e-05
      ]
    ],
    "position_light": [
      425.990051,
      200.4944,
      292.962433
    ],
    "rotation_matrix_light": [
      [
        0.4494156027839634,
        0.5207632998699326,
        0.7258313863996964
      ],
      [
        0.47421536607905357,
        0.5495006715714381,
        -0.6878726615566633
      ],
      [
        -0.7570636713968224,
        0.6533411034452961,
        2.166561144933965e-07
      ]
    ],
    "servo_angle": [
      [
        41.940568,
        9.242841,
        -61.28156,
        119.620581,
        58.387837,
        13.251425,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.461505,
        -25.071544,
        -42.393319,
        -203.144593,
        24.270836,
        62.373733,
        0.0
      ]
    ],
    "turn_angle": 1000.628238318651,
    "filename": "scan-0316_light-31_camera-316.png"
  },
  {
    "id": 317,
    "scan_id": "0317",
    "camera_id": 317,
    "light_id": 31,
    "position": [
      601.591797,
      -136.381149,
      189.665497
    ],
    "rotation_matrix": [
      [
        0.4619089563035896,
        -0.8869273277610723,
        0.0001770794498325845
      ],
      [
        -6.281779635941565e-05,
        0.00016693965743030947,
        0.9999999840925373
      ],
      [
        -0.8869273432138918,
        -0.461908960079531,
        2.1396102668325145e-05
      ]
    ],
    "position_light": [
      425.990051,
      200.4944,
      292.962433
    ],
    "rotation_matrix_light": [
      [
        0.4494156027839634,
        0.5207632998699326,
        0.7258313863996964
      ],
      [
        0.47421536607905357,
        0.5495006715714381,
        -0.6878726615566633
      ],
      [
        -0.7570636713968224,
        0.6533411034452961,
        2.166561144933965e-07
      ]
    ],
    "servo_angle": [
      [
        40.3309,
        13.867126,
        -63.069934,
        119.736548,
        60.857457,
        14.576906,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.461505,
        -25.071544,
        -42.393319,
        -203.144593,
        24.270836,
        62.373733,
        0.0
      ]
    ],
    "turn_angle": 1000.628238318651,
    "filename": "scan-0317_light-31_camera-317.png"
  },
  {
    "id": 318,
    "scan_id": "0318",
    "camera_id": 318,
    "light_id": 31,
    "position": [
      613.862305,
      -136.381149,
      167.09227
    ],
    "rotation_matrix": [
      [
        0.41663384500690503,
        -0.9090743684118364,
        0.0001785815868260432
      ],
      [
        -6.291416374881731e-05,
        0.0001676094050284127,
        0.9999999839744476
      ],
      [
        -0.909074383775371,
        -0.41663384956542865,
        1.2638097202255505e-05
      ]
    ],
    "position_light": [
      425.990051,
      200.4944,
      292.962433
    ],
    "rotation_matrix_light": [
      [
        0.4494156027839634,
        0.5207632998699326,
        0.7258313863996964
      ],
      [
        0.47421536607905357,
        0.5495006715714381,
        -0.6878726615566633
      ],
      [
        -0.7570636713968224,
        0.6533411034452961,
        2.166561144933965e-07
      ]
    ],
    "servo_angle": [
      [
        39.173354,
        17.758025,
        -64.679372,
        119.835441,
        62.724039,
        15.689361,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.461505,
        -25.071544,
        -42.393319,
        -203.144593,
        24.270836,
        62.373733,
        0.0
      ]
    ],
    "turn_angle": 1000.628238318651,
    "filename": "scan-0318_light-31_camera-318.png"
  },
  {
    "id": 319,
    "scan_id": "0319",
    "camera_id": 319,
    "light_id": 31,
    "position": [
      633.674866,
      -136.381149,
      123.387886
    ],
    "rotation_matrix": [
      [
        0.32930868120037127,
        -0.9442223045635953,
        0.00017902705274913666
      ],
      [
        -6.289512024815203e-05,
        0.000167667232611024,
        0.9999999839659516
      ],
      [
        -0.9442223194408594,
        -0.32930868718014794,
        -4.172700134918994e-06
      ]
    ],
    "position_light": [
      425.990051,
      200.4944,
      292.962433
    ],
    "rotation_matrix_light": [
      [
        0.4494156027839634,
        0.5207632998699326,
        0.7258313863996964
      ],
      [
        0.47421536607905357,
        0.5495006715714381,
        -0.6878726615566633
      ],
      [
        -0.7570636713968224,
        0.6533411034452961,
        2.166561144933965e-07
      ]
    ],
    "servo_angle": [
      [
        37.389106,
        25.13159,
        -67.973077,
        120.036205,
        65.823683,
        17.836749,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -52.461505,
        -25.071544,
        -42.393319,
        -203.144593,
        24.270836,
        62.373733,
        0.0
      ]
    ],
    "turn_angle": 1000.628238318651,
    "filename": "scan-0319_light-31_camera-319.png"
  },
  {
    "id": 320,
    "scan_id": "0320",
    "camera_id": 320,
    "light_id": 32,
    "position": [
      634.267212,
      -136.381149,
      121.891541
    ],
    "rotation_matrix": [
      [
        0.32930868120037127,
        -0.9442223045635953,
        0.00017902705274913666
      ],
      [
        -6.289512024815203e-05,
        0.000167667232611024,
        0.9999999839659516
      ],
      [
        -0.9442223194408594,
        -0.32930868718014794,
        -4.172700134918994e-06
      ]
    ],
    "position_light": [
      316.473511,
      210.068542,
      218.645905
    ],
    "rotation_matrix_light": [
      [
        0.3066354538950305,
        0.39061500410556127,
        0.867983074133477
      ],
      [
        0.5359596378293107,
        0.6827458411445045,
        -0.49659378068775395
      ],
      [
        -0.7865888157305968,
        0.6174771533971887,
        2.0476317819095868e-07
      ]
    ],
    "servo_angle": [
      [
        37.337081,
        25.38077,
        -68.089846,
        120.043424,
        65.919711,
        17.72995,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.925101,
        -34.516639,
        -19.854535,
        -240.334538,
        55.959241,
        83.436349,
        0.0
      ]
    ],
    "turn_angle": 1047.7011765441998,
    "filename": "scan-0320_light-32_camera-320.png"
  },
  {
    "id": 321,
    "scan_id": "0321",
    "camera_id": 321,
    "light_id": 32,
    "position": [
      616.1745,
      -136.381149,
      162.513992
    ],
    "rotation_matrix": [
      [
        0.4074658043214816,
        -0.9132204479802177,
        0.00017804341769556142
      ],
      [
        -6.275293427043804e-05,
        0.0001669626872291552,
        0.9999999840927649
      ],
      [
        -0.9132204631800128,
        -0.4074658090125742,
        1.0724322896948912e-05
      ]
    ],
    "position_light": [
      316.473511,
      210.068542,
      218.645905
    ],
    "rotation_matrix_light": [
      [
        0.3066354538950305,
        0.39061500410556127,
        0.867983074133477
      ],
      [
        0.5359596378293107,
        0.6827458411445045,
        -0.49659378068775395
      ],
      [
        -0.7865888157305968,
        0.6174771533971887,
        2.0476317819095868e-07
      ]
    ],
    "servo_angle": [
      [
        38.959984,
        18.540055,
        -65.013865,
        119.855723,
        63.078528,
        15.91396,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.925101,
        -34.516639,
        -19.854535,
        -240.334538,
        55.959241,
        83.436349,
        0.0
      ]
    ],
    "turn_angle": 1047.7011765441998,
    "filename": "scan-0321_light-32_camera-321.png"
  },
  {
    "id": 322,
    "scan_id": "0322",
    "camera_id": 322,
    "light_id": 32,
    "position": [
      601.965332,
      -136.381149,
      189.016769
    ],
    "rotation_matrix": [
      [
        0.46060556987382606,
        -0.8876049107755991,
        0.00017711083618149326
      ],
      [
        -6.264054094540228e-05,
        0.0001670318060480458,
        0.9999999840882688
      ],
      [
        -0.8876049262354115,
        -0.4606055736391127,
        2.1335728455085246e-05
      ]
    ],
    "position_light": [
      316.473511,
      210.068542,
      218.645905
    ],
    "rotation_matrix_light": [
      [
        0.3066354538950305,
        0.39061500410556127,
        0.867983074133477
      ],
      [
        0.5359596378293107,
        0.6827458411445045,
        -0.49659378068775395
      ],
      [
        -0.7865888157305968,
        0.6174771533971887,
        2.0476317819095868e-07
      ]
    ],
    "servo_angle": [
      [
        40.295033,
        13.979826,
        -63.115255,
        119.739356,
        60.914065,
        14.609049,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.925101,
        -34.516639,
        -19.854535,
        -240.334538,
        55.959241,
        83.436349,
        0.0
      ]
    ],
    "turn_angle": 1047.7011765441998,
    "filename": "scan-0322_light-32_camera-322.png"
  },
  {
    "id": 323,
    "scan_id": "0323",
    "camera_id": 323,
    "light_id": 32,
    "position": [
      592.595886,
      -136.381149,
      204.663986
    ],
    "rotation_matrix": [
      [
        0.4920616133132118,
        -0.8705603582535675,
        0.0001770339518348818
      ],
      [
        -6.298509109076145e-05,
        0.0001677556324168883,
        0.9999999839454632
      ],
      [
        -0.8705603739755664,
        -0.49206161656389,
        2.771378366489552e-05
      ]
    ],
    "position_light": [
      316.473511,
      210.068542,
      218.645905
    ],
    "rotation_matrix_light": [
      [
        0.3066354538950305,
        0.39061500410556127,
        0.867983074133477
      ],
      [
        0.5359596378293107,
        0.6827458411445045,
        -0.49659378068775395
      ],
      [
        -0.7865888157305968,
        0.6174771533971887,
        2.0476317819095868e-07
      ]
    ],
    "servo_angle": [
      [
        41.208385,
        11.24888,
        -62.040157,
        119.670887,
        59.495594,
        13.828394,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.925101,
        -34.516639,
        -19.854535,
        -240.334538,
        55.959241,
        83.436349,
        0.0
      ]
    ],
    "turn_angle": 1047.7011765441998,
    "filename": "scan-0323_light-32_camera-323.png"
  },
  {
    "id": 324,
    "scan_id": "0324",
    "camera_id": 324,
    "light_id": 32,
    "position": [
      575.483215,
      -136.381149,
      230.349823
    ],
    "rotation_matrix": [
      [
        0.5438451243092661,
        -0.8391855874227702,
        0.00017500553834937094
      ],
      [
        -6.308308819757968e-05,
        0.00016766029792170123,
        0.9999999839552738
      ],
      [
        -0.8391856032997481,
        -0.54384512662331,
        3.824281713937783e-05
      ]
    ],
    "position_light": [
      316.473511,
      210.068542,
      218.645905
    ],
    "rotation_matrix_light": [
      [
        0.3066354538950305,
        0.39061500410556127,
        0.867983074133477
      ],
      [
        0.5359596378293107,
        0.6827458411445045,
        -0.49659378068775395
      ],
      [
        -0.7865888157305968,
        0.6174771533971887,
        2.0476317819095868e-07
      ]
    ],
    "servo_angle": [
      [
        42.950349,
        6.702861,
        -60.360588,
        119.556697,
        56.8966,
        12.51208,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.925101,
        -34.516639,
        -19.854535,
        -240.334538,
        55.959241,
        83.436349,
        0.0
      ]
    ],
    "turn_angle": 1047.7011765441998,
    "filename": "scan-0324_light-32_camera-324.png"
  },
  {
    "id": 325,
    "scan_id": "0325",
    "camera_id": 325,
    "light_id": 32,
    "position": [
      543.864258,
      -136.381149,
      270.41925
    ],
    "rotation_matrix": [
      [
        0.6250404272281815,
        -0.7805923618934913,
        0.0001699527966860237
      ],
      [
        -6.313046083700202e-05,
        0.00016717266287785693,
        0.9999999840339229
      ],
      [
        -0.780592377841955,
        -0.625040427977936,
        5.521051709395097e-05
      ]
    ],
    "position_light": [
      316.473511,
      210.068542,
      218.645905
    ],
    "rotation_matrix_light": [
      [
        0.3066354538950305,
        0.39061500410556127,
        0.867983074133477
      ],
      [
        0.5359596378293107,
        0.6827458411445045,
        -0.49659378068775395
      ],
      [
        -0.7865888157305968,
        0.6174771533971887,
        2.0476317819095868e-07
      ]
    ],
    "servo_angle": [
      [
        46.444417,
        -0.536518,
        -58.002981,
        119.373751,
        51.988529,
        10.286197,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.925101,
        -34.516639,
        -19.854535,
        -240.334538,
        55.959241,
        83.436349,
        0.0
      ]
    ],
    "turn_angle": 1047.7011765441998,
    "filename": "scan-0325_light-32_camera-325.png"
  },
  {
    "id": 326,
    "scan_id": "0326",
    "camera_id": 326,
    "light_id": 32,
    "position": [
      512.498413,
      -136.381149,
      303.242706
    ],
    "rotation_matrix": [
      [
        0.6920140523323426,
        -0.7218840103703995,
        0.0001641527295390688
      ],
      [
        -6.297429425827783e-05,
        0.00016702632088982927,
        0.9999999840682231
      ],
      [
        -0.721884026287331,
        -0.6920140516447314,
        7.01244250757016e-05
      ]
    ],
    "position_light": [
      316.473511,
      210.068542,
      218.645905
    ],
    "rotation_matrix_light": [
      [
        0.3066354538950305,
        0.39061500410556127,
        0.867983074133477
      ],
      [
        0.5359596378293107,
        0.6827458411445045,
        -0.49659378068775395
      ],
      [
        -0.7865888157305968,
        0.6174771533971887,
        2.0476317819095868e-07
      ]
    ],
    "servo_angle": [
      [
        50.300538,
        -6.563919,
        -56.399845,
        119.240252,
        46.89946,
        8.14173,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.925101,
        -34.516639,
        -19.854535,
        -240.334538,
        55.959241,
        83.436349,
        0.0
      ]
    ],
    "turn_angle": 1047.7011765441998,
    "filename": "scan-0326_light-32_camera-326.png"
  },
  {
    "id": 327,
    "scan_id": "0327",
    "camera_id": 327,
    "light_id": 32,
    "position": [
      506.172974,
      -136.381149,
      309.195251
    ],
    "rotation_matrix": [
      [
        0.7042131764754358,
        -0.7099885743587233,
        0.00016235283776055986
      ],
      [
        -6.26709860105934e-05,
        0.00016650845566990036,
        0.9999999841736407
      ],
      [
        -0.7099885901553095,
        -0.7042131755051175,
        7.276176446591176e-05
      ]
    ],
    "position_light": [
      316.473511,
      210.068542,
      218.645905
    ],
    "rotation_matrix_light": [
      [
        0.3066354538950305,
        0.39061500410556127,
        0.867983074133477
      ],
      [
        0.5359596378293107,
        0.6827458411445045,
        -0.49659378068775395
      ],
      [
        -0.7865888157305968,
        0.6174771533971887,
        2.0476317819095868e-07
      ]
    ],
    "servo_angle": [
      [
        51.128519,
        -7.660159,
        -56.151583,
        119.222662,
        45.840863,
        7.700324,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.925101,
        -34.516639,
        -19.854535,
        -240.334538,
        55.959241,
        83.436349,
        0.0
      ]
    ],
    "turn_angle": 1047.7011765441998,
    "filename": "scan-0327_light-32_camera-327.png"
  },
  {
    "id": 328,
    "scan_id": "0328",
    "camera_id": 328,
    "light_id": 32,
    "position": [
      463.284027,
      -136.381149,
      344.727478
    ],
    "rotation_matrix": [
      [
        0.7774658140083088,
        -0.6289251817845426,
        0.00015416120448807913
      ],
      [
        -6.297529907739463e-05,
        0.00016726959408369657,
        0.9999999840274968
      ],
      [
        -0.6289251975255155,
        -0.7774658112985818,
        9.043963970295499e-05
      ]
    ],
    "position_light": [
      316.473511,
      210.068542,
      218.645905
    ],
    "rotation_matrix_light": [
      [
        0.3066354538950305,
        0.39061500410556127,
        0.867983074133477
      ],
      [
        0.5359596378293107,
        0.6827458411445045,
        -0.49659378068775395
      ],
      [
        -0.7865888157305968,
        0.6174771533971887,
        2.0476317819095868e-07
      ]
    ],
    "servo_angle": [
      [
        57.209034,
        -14.140656,
        -55.057978,
        119.256982,
        38.345544,
        4.469873,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.925101,
        -34.516639,
        -19.854535,
        -240.334538,
        55.959241,
        83.436349,
        0.0
      ]
    ],
    "turn_angle": 1047.7011765441998,
    "filename": "scan-0328_light-32_camera-328.png"
  },
  {
    "id": 329,
    "scan_id": "0329",
    "camera_id": 329,
    "light_id": 32,
    "position": [
      445.924744,
      -136.381149,
      357.024719
    ],
    "rotation_matrix": [
      [
        0.8030299764637954,
        -0.5959386163769742,
        0.0001497038864265443
      ],
      [
        -6.263534596434583e-05,
        0.0001668054744614622,
        0.9999999841263734
      ],
      [
        -0.595938631888695,
        -0.8030299730935522,
        9.662297482060378e-05
      ]
    ],
    "position_light": [
      316.473511,
      210.068542,
      218.645905
    ],
    "rotation_matrix_light": [
      [
        0.3066354538950305,
        0.39061500410556127,
        0.867983074133477
      ],
      [
        0.5359596378293107,
        0.6827458411445045,
        -0.49659378068775395
      ],
      [
        -0.7865888157305968,
        0.6174771533971887,
        2.0476317819095868e-07
      ]
    ],
    "servo_angle": [
      [
        59.903482,
        -16.314056,
        -54.891591,
        119.392258,
        35.150732,
        2.974052,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.925101,
        -34.516639,
        -19.854535,
        -240.334538,
        55.959241,
        83.436349,
        0.0
      ]
    ],
    "turn_angle": 1047.7011765441998,
    "filename": "scan-0329_light-32_camera-329.png"
  },
  {
    "id": 330,
    "scan_id": "0330",
    "camera_id": 330,
    "light_id": 33,
    "position": [
      412.010559,
      -136.381149,
      378.112305
    ],
    "rotation_matrix": [
      [
        0.8472163309491987,
        -0.5312480291828772,
        0.00014164140000005876
      ],
      [
        -6.269566938982285e-05,
        0.00016663516456622007,
        0.9999999841509872
      ],
      [
        -0.5312480443655585,
        -0.8472163264019588,
        0.00010786908192922384
      ]
    ],
    "position_light": [
      314.729614,
      220.033585,
      118.776344
    ],
    "rotation_matrix_light": [
      [
        0.21574116146156624,
        0.4305014302491744,
        0.8764269905728768
      ],
      [
        0.3926637445117863,
        0.7835428855848505,
        -0.4815347653029305
      ],
      [
        -0.8940195383755305,
        0.4480279734601188,
        1.4857170232973615e-07
      ]
    ],
    "servo_angle": [
      [
        65.535199,
        -19.835913,
        -55.016783,
        120.024345,
        28.658891,
        -0.467935,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.768158,
        -18.995957,
        -14.368636,
        -235.302078,
        69.94961,
        53.838667,
        0.0
      ]
    ],
    "turn_angle": 1093.7877957887265,
    "filename": "scan-0330_light-33_camera-330.png"
  },
  {
    "id": 331,
    "scan_id": "0331",
    "camera_id": 331,
    "light_id": 33,
    "position": [
      385.024078,
      -136.381149,
      392.407898
    ],
    "rotation_matrix": [
      [
        0.8775082347878804,
        -0.47956154926268935,
        0.0001354556266838225
      ],
      [
        -6.317605773956125e-05,
        0.0001668568169049811,
        0.9999999840837938
      ],
      [
        -0.47956156423158364,
        -0.8775082293788311,
        0.00011612142273875747
      ]
    ],
    "position_light": [
      314.729614,
      220.033585,
      118.776344
    ],
    "rotation_matrix_light": [
      [
        0.21574116146156624,
        0.4305014302491744,
        0.8764269905728768
      ],
      [
        0.3926637445117863,
        0.7835428855848505,
        -0.4815347653029305
      ],
      [
        -0.8940195383755305,
        0.4480279734601188,
        1.4857170232973615e-07
      ]
    ],
    "servo_angle": [
      [
        70.312808,
        -21.955399,
        -55.562009,
        121.094401,
        23.303053,
        -3.935131,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.768158,
        -18.995957,
        -14.368636,
        -235.302078,
        69.94961,
        53.838667,
        0.0
      ]
    ],
    "turn_angle": 1093.7877957887265,
    "filename": "scan-0331_light-33_camera-331.png"
  },
  {
    "id": 332,
    "scan_id": "0332",
    "camera_id": 332,
    "light_id": 33,
    "position": [
      366.423035,
      -136.381149,
      401.098022
    ],
    "rotation_matrix": [
      [
        0.8961070956801908,
        -0.4438378713427804,
        0.00013051253917970018
      ],
      [
        -6.273211739479811e-05,
        0.00016739860739001244,
        0.9999999840211936
      ],
      [
        -0.44383788609839836,
        -0.8961070895487969,
        0.00012216419043986626
      ]
    ],
    "position_light": [
      314.729614,
      220.033585,
      118.776344
    ],
    "rotation_matrix_light": [
      [
        0.21574116146156624,
        0.4305014302491744,
        0.8764269905728768
      ],
      [
        0.3926637445117863,
        0.7835428855848505,
        -0.4815347653029305
      ],
      [
        -0.8940195383755305,
        0.4480279734601188,
        1.4857170232973615e-07
      ]
    ],
    "servo_angle": [
      [
        73.708786,
        -23.061207,
        -56.192377,
        122.302826,
        19.556654,
        -6.88363,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.768158,
        -18.995957,
        -14.368636,
        -235.302078,
        69.94961,
        53.838667,
        0.0
      ]
    ],
    "turn_angle": 1093.7877957887265,
    "filename": "scan-0332_light-33_camera-332.png"
  },
  {
    "id": 333,
    "scan_id": "0333",
    "camera_id": 333,
    "light_id": 33,
    "position": [
      313.050049,
      -136.381149,
      421.244293
    ],
    "rotation_matrix": [
      [
        0.9400886815048004,
        -0.3409299890044615,
        0.00011620664196110297
      ],
      [
        -6.298894062303773e-05,
        0.00016716467252891887,
        0.9999999840441826
      ],
      [
        -0.3409300029902901,
        -0.9400886738246504,
        0.0001356747977578343
      ]
    ],
    "position_light": [
      314.729614,
      220.033585,
      118.776344
    ],
    "rotation_matrix_light": [
      [
        0.21574116146156624,
        0.4305014302491744,
        0.8764269905728768
      ],
      [
        0.3926637445117863,
        0.7835428855848505,
        -0.4815347653029305
      ],
      [
        -0.8940195383755305,
        0.4480279734601188,
        1.4857170232973615e-07
      ]
    ],
    "servo_angle": [
      [
        83.323533,
        -24.611345,
        -59.446663,
        129.852233,
        9.02907,
        -19.831788,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.768158,
        -18.995957,
        -14.368636,
        -235.302078,
        69.94961,
        53.838667,
        0.0
      ]
    ],
    "turn_angle": 1093.7877957887265,
    "filename": "scan-0333_light-33_camera-333.png"
  },
  {
    "id": 334,
    "scan_id": "0334",
    "camera_id": 334,
    "light_id": 33,
    "position": [
      294.662354,
      -136.381149,
      426.654236
    ],
    "rotation_matrix": [
      [
        0.9522407836689458,
        -0.30534812536741823,
        0.00011068945728628932
      ],
      [
        -6.285584522408572e-05,
        0.00016648393094975678,
        0.9999999841661219
      ],
      [
        -0.3053481389605891,
        -0.9522407755487604,
        0.00013933987436831607
      ]
    ],
    "position_light": [
      314.729614,
      220.033585,
      118.776344
    ],
    "rotation_matrix_light": [
      [
        0.21574116146156624,
        0.4305014302491744,
        0.8764269905728768
      ],
      [
        0.3926637445117863,
        0.7835428855848505,
        -0.4815347653029305
      ],
      [
        -0.8940195383755305,
        0.4480279734601188,
        1.4857170232973615e-07
      ]
    ],
    "servo_angle": [
      [
        86.236508,
        -24.599026,
        -61.192294,
        134.936488,
        5.727687,
        -26.918245,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.768158,
        -18.995957,
        -14.368636,
        -235.302078,
        69.94961,
        53.838667,
        0.0
      ]
    ],
    "turn_angle": 1093.7877957887265,
    "filename": "scan-0334_light-33_camera-334.png"
  },
  {
    "id": 335,
    "scan_id": "0335",
    "camera_id": 335,
    "light_id": 33,
    "position": [
      268.035461,
      -136.381149,
      433.182861
    ],
    "rotation_matrix": [
      [
        0.9672795261671654,
        -0.2537130418817424,
        0.00010313552823368322
      ],
      [
        -6.28693595083607e-05,
        0.00016681555668274228,
        0.9999999841100067
      ],
      [
        -0.2537130550548543,
        -0.9672795172811648,
        0.00014540649618333124
      ]
    ],
    "position_light": [
      314.729614,
      220.033585,
      118.776344
    ],
    "rotation_matrix_light": [
      [
        0.21574116146156624,
        0.4305014302491744,
        0.8764269905728768
      ],
      [
        0.3926637445117863,
        0.7835428855848505,
        -0.4815347653029305
      ],
      [
        -0.8940195383755305,
        0.4480279734601188,
        1.4857170232973615e-07
      ]
    ],
    "servo_angle": [
      [
        89.455156,
        -24.163636,
        -64.301793,
        146.206969,
        1.640665,
        -41.209416,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.768158,
        -18.995957,
        -14.368636,
        -235.302078,
        69.94961,
        53.838667,
        0.0
      ]
    ],
    "turn_angle": 1093.7877957887265,
    "filename": "scan-0335_light-33_camera-335.png"
  },
  {
    "id": 336,
    "scan_id": "0336",
    "camera_id": 336,
    "light_id": 33,
    "position": [
      223.928238,
      -136.381149,
      440.738068
    ],
    "rotation_matrix": [
      [
        0.985803365037262,
        -0.16790389315391002,
        9.02494960270811e-05
      ],
      [
        -6.309262174716834e-05,
        0.00016707519542003002,
        0.9999999840526
      ],
      [
        -0.16790390555473167,
        -0.9858033550103386,
        0.00015410979303864814
      ]
    ],
    "position_light": [
      314.729614,
      220.033585,
      118.776344
    ],
    "rotation_matrix_light": [
      [
        0.21574116146156624,
        0.4305014302491744,
        0.8764269905728768
      ],
      [
        0.3926637445117863,
        0.7835428855848505,
        -0.4815347653029305
      ],
      [
        -0.8940195383755305,
        0.4480279734601188,
        1.4857170232973615e-07
      ]
    ],
    "servo_angle": [
      [
        90.60703,
        -23.178435,
        -68.856349,
        177.427554,
        -2.119543,
        -77.52881,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.768158,
        -18.995957,
        -14.368636,
        -235.302078,
        69.94961,
        53.838667,
        0.0
      ]
    ],
    "turn_angle": 1093.7877957887265,
    "filename": "scan-0336_light-33_camera-336.png"
  },
  {
    "id": 337,
    "scan_id": "0337",
    "camera_id": 337,
    "light_id": 33,
    "position": [
      206.2948,
      -136.381149,
      442.655975
    ],
    "rotation_matrix": [
      [
        0.991047977223055,
        -0.13350617874113074,
        8.414292712835558e-05
      ],
      [
        -6.244235147707944e-05,
        0.00016673055794302893,
        0.9999999841509368
      ],
      [
        -0.13350619065438007,
        -0.9910479667699552,
        0.0001569015424534026
      ]
    ],
    "position_light": [
      314.729614,
      220.033585,
      118.776344
    ],
    "rotation_matrix_light": [
      [
        0.21574116146156624,
        0.4305014302491744,
        0.8764269905728768
      ],
      [
        0.3926637445117863,
        0.7835428855848505,
        -0.4815347653029305
      ],
      [
        -0.8940195383755305,
        0.4480279734601188,
        1.4857170232973615e-07
      ]
    ],
    "servo_angle": [
      [
        90.041349,
        -23.123545,
        -69.087308,
        192.737101,
        -2.278424,
        -94.824229,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.768158,
        -18.995957,
        -14.368636,
        -235.302078,
        69.94961,
        53.838667,
        0.0
      ]
    ],
    "turn_angle": 1093.7877957887265,
    "filename": "scan-0337_light-33_camera-337.png"
  },
  {
    "id": 338,
    "scan_id": "0338",
    "camera_id": 338,
    "light_id": 33,
    "position": [
      156.903046,
      -136.381149,
      444.753082
    ],
    "rotation_matrix": [
      [
        0.9993196760163496,
        -0.036880623047438735,
        6.906671222726979e-05
      ],
      [
        -6.296352132479505e-05,
        0.00016664646343672596,
        0.9999999841322754
      ],
      [
        -0.0368806339719505,
        -0.9993196645081036,
        0.00016421095595503532
      ]
    ],
    "position_light": [
      314.729614,
      220.033585,
      118.776344
    ],
    "rotation_matrix_light": [
      [
        0.21574116146156624,
        0.4305014302491744,
        0.8764269905728768
      ],
      [
        0.3926637445117863,
        0.7835428855848505,
        -0.4815347653029305
      ],
      [
        -0.8940195383755305,
        0.4480279734601188,
        1.4857170232973615e-07
      ]
    ],
    "servo_angle": [
      [
        91.710948,
        -23.994842,
        -65.07689,
        228.39914,
        1.6056,
        -135.96764,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.768158,
        -18.995957,
        -14.368636,
        -235.302078,
        69.94961,
        53.838667,
        0.0
      ]
    ],
    "turn_angle": 1093.7877957887265,
    "filename": "scan-0338_light-33_camera-338.png"
  },
  {
    "id": 339,
    "scan_id": "0339",
    "camera_id": 339,
    "light_id": 33,
    "position": [
      137.392105,
      -136.381149,
      444.260956
    ],
    "rotation_matrix": [
      [
        0.9999990180174909,
        0.0014000084690114307,
        6.27721308165155e-05
      ],
      [
        -6.300632420920083e-05,
        0.00016723650546607294,
        0.999999984031077
      ],
      [
        0.0013999979488630047,
        -0.9999990060036249,
        0.00016732455063023233
      ]
    ],
    "position_light": [
      314.729614,
      220.033585,
      118.776344
    ],
    "rotation_matrix_light": [
      [
        0.21574116146156624,
        0.4305014302491744,
        0.8764269905728768
      ],
      [
        0.3926637445117863,
        0.7835428855848505,
        -0.4815347653029305
      ],
      [
        -0.8940195383755305,
        0.4480279734601188,
        1.4857170232973615e-07
      ]
    ],
    "servo_angle": [
      [
        94.286107,
        -24.20741,
        -63.437371,
        236.728399,
        4.55341,
        -146.371236,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.768158,
        -18.995957,
        -14.368636,
        -235.302078,
        69.94961,
        53.838667,
        0.0
      ]
    ],
    "turn_angle": 1093.7877957887265,
    "filename": "scan-0339_light-33_camera-339.png"
  },
  {
    "id": 340,
    "scan_id": "0340",
    "camera_id": 340,
    "light_id": 34,
    "position": [
      113.867256,
      -136.381149,
      442.670746
    ],
    "rotation_matrix": [
      [
        0.9988645706825983,
        0.0476399666449695,
        5.489202935574436e-05
      ],
      [
        -6.29348467824295e-05,
        0.00016732505908534367,
        0.9999999840207647
      ],
      [
        0.04763995669890721,
        -0.9988645581761277,
        0.00017013328730930422
      ]
    ],
    "position_light": [
      310.324402,
      205.067017,
      268.814758
    ],
    "rotation_matrix_light": [
      [
        0.3354801446001674,
        0.3567046260096459,
        0.8719030234850489
      ],
      [
        0.597342818806535,
        0.6351349771368953,
        -0.48967858605168657
      ],
      [
        -0.7284467237892653,
        0.6851024526307248,
        2.271885769511428e-07
      ]
    ],
    "servo_angle": [
      [
        98.179412,
        -24.096428,
        -62.107307,
        243.246367,
        8.663466,
        -155.294252,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.619927,
        -38.633456,
        -24.189591,
        -246.733617,
        53.134387,
        98.403496,
        0.0
      ]
    ],
    "turn_angle": 1120.1980071394476,
    "filename": "scan-0340_light-34_camera-340.png"
  },
  {
    "id": 341,
    "scan_id": "0341",
    "camera_id": 341,
    "light_id": 34,
    "position": [
      90.953598,
      -136.381149,
      440.064758
    ],
    "rotation_matrix": [
      [
        0.9956878032072134,
        0.09276743142702039,
        4.7019421799195105e-05
      ],
      [
        -6.273469014439481e-05,
        0.00016648886923098516,
        0.999999984172907
      ],
      [
        0.09276742213057129,
        -0.9956877903981192,
        0.00017159067252914273
      ]
    ],
    "position_light": [
      310.324402,
      205.067017,
      268.814758
    ],
    "rotation_matrix_light": [
      [
        0.3354801446001674,
        0.3567046260096459,
        0.8719030234850489
      ],
      [
        0.597342818806535,
        0.6351349771368953,
        -0.48967858605168657
      ],
      [
        -0.7284467237892653,
        0.6851024526307248,
        2.271885769511428e-07
      ]
    ],
    "servo_angle": [
      [
        102.339315,
        -23.575666,
        -61.41271,
        247.152392,
        12.945237,
        -161.457902,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.619927,
        -38.633456,
        -24.189591,
        -246.733617,
        53.134387,
        98.403496,
        0.0
      ]
    ],
    "turn_angle": 1120.1980071394476,
    "filename": "scan-0341_light-34_camera-341.png"
  },
  {
    "id": 342,
    "scan_id": "0342",
    "camera_id": 342,
    "light_id": 34,
    "position": [
      70.968643,
      -136.381149,
      436.927521
    ],
    "rotation_matrix": [
      [
        0.9912229464018276,
        0.13220086588263352,
        3.9829152532463996e-05
      ],
      [
        -6.2453375652749e-05,
        0.00016698882401711135,
        0.9999999841071541
      ],
      [
        0.13220085713056218,
        -0.9912229331359392,
        0.00017377954449704358
      ]
    ],
    "position_light": [
      310.324402,
      205.067017,
      268.814758
    ],
    "rotation_matrix_light": [
      [
        0.3354801446001674,
        0.3567046260096459,
        0.8719030234850489
      ],
      [
        0.597342818806535,
        0.6351349771368953,
        -0.48967858605168657
      ],
      [
        -0.7284467237892653,
        0.6851024526307248,
        2.271885769511428e-07
      ]
    ],
    "servo_angle": [
      [
        106.044003,
        -22.799022,
        -61.181407,
        249.324991,
        16.743087,
        -165.540456,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.619927,
        -38.633456,
        -24.189591,
        -246.733617,
        53.134387,
        98.403496,
        0.0
      ]
    ],
    "turn_angle": 1120.1980071394476,
    "filename": "scan-0342_light-34_camera-342.png"
  },
  {
    "id": 343,
    "scan_id": "0343",
    "camera_id": 343,
    "light_id": 34,
    "position": [
      28.300793,
      -136.381149,
      427.456238
    ],
    "rotation_matrix": [
      [
        0.97625532975972,
        0.21662301471572817,
        2.4722650521002976e-05
      ],
      [
        -6.248153580490357e-05,
        0.0001674581173316536,
        0.999999984026918
      ],
      [
        0.21662300711558252,
        -0.9762553157106229,
        0.0001770168182066989
      ]
    ],
    "position_light": [
      310.324402,
      205.067017,
      268.814758
    ],
    "rotation_matrix_light": [
      [
        0.3354801446001674,
        0.3567046260096459,
        0.8719030234850489
      ],
      [
        0.597342818806535,
        0.6351349771368953,
        -0.48967858605168657
      ],
      [
        -0.7284467237892653,
        0.6851024526307248,
        2.271885769511428e-07
      ]
    ],
    "servo_angle": [
      [
        113.742779,
        -20.207419,
        -61.541339,
        251.786017,
        24.680157,
        -171.907449,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.619927,
        -38.633456,
        -24.189591,
        -246.733617,
        53.134387,
        98.403496,
        0.0
      ]
    ],
    "turn_angle": 1120.1980071394476,
    "filename": "scan-0343_light-34_camera-343.png"
  },
  {
    "id": 344,
    "scan_id": "0344",
    "camera_id": 344,
    "light_id": 34,
    "position": [
      -6.799928,
      -136.381149,
      416.700745
    ],
    "rotation_matrix": [
      [
        0.9581334256297545,
        0.2863220887800245,
        1.2947412445313278e-05
      ],
      [
        -6.324480881123029e-05,
        0.00016641940998168847,
        0.9999999841523369
      ],
      [
        0.28632208208778775,
        -0.9581334112644354,
        0.00017756038514032957
      ]
    ],
    "position_light": [
      310.324402,
      205.067017,
      268.814758
    ],
    "rotation_matrix_light": [
      [
        0.3354801446001674,
        0.3567046260096459,
        0.8719030234850489
      ],
      [
        0.597342818806535,
        0.6351349771368953,
        -0.48967858605168657
      ],
      [
        -0.7284467237892653,
        0.6851024526307248,
        2.271885769511428e-07
      ]
    ],
    "servo_angle": [
      [
        119.602018,
        -17.207011,
        -62.500929,
        252.620816,
        30.800607,
        -175.786603,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.619927,
        -38.633456,
        -24.189591,
        -246.733617,
        53.134387,
        98.403496,
        0.0
      ]
    ],
    "turn_angle": 1120.1980071394476,
    "filename": "scan-0344_light-34_camera-344.png"
  },
  {
    "id": 345,
    "scan_id": "0345",
    "camera_id": 345,
    "light_id": 34,
    "position": [
      -29.570591,
      -136.381149,
      408.202728
    ],
    "rotation_matrix": [
      [
        0.9433968682622682,
        0.3316660201697469,
        4.207762564573114e-06
      ],
      [
        -6.321059968916742e-05,
        0.00016711063515628677,
        0.9999999840392276
      ],
      [
        0.33166601417293917,
        -0.9433968534709009,
        0.00017861645789118974
      ]
    ],
    "position_light": [
      310.324402,
      205.067017,
      268.814758
    ],
    "rotation_matrix_light": [
      [
        0.3354801446001674,
        0.3567046260096459,
        0.8719030234850489
      ],
      [
        0.597342818806535,
        0.6351349771368953,
        -0.48967858605168657
      ],
      [
        -0.7284467237892653,
        0.6851024526307248,
        2.271885769511428e-07
      ]
    ],
    "servo_angle": [
      [
        123.114822,
        -14.87874,
        -63.388555,
        252.866042,
        34.515722,
        -177.932903,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.619927,
        -38.633456,
        -24.189591,
        -246.733617,
        53.134387,
        98.403496,
        0.0
      ]
    ],
    "turn_angle": 1120.1980071394476,
    "filename": "scan-0345_light-34_camera-345.png"
  },
  {
    "id": 346,
    "scan_id": "0346",
    "camera_id": 346,
    "light_id": 34,
    "position": [
      -78.316879,
      -136.381149,
      385.625
    ],
    "rotation_matrix": [
      [
        0.9032540477691839,
        0.42910619313375764,
        -1.4242158174526676e-05
      ],
      [
        -6.323244089370683e-05,
        0.0001662924406091726,
        0.9999999841742412
      ],
      [
        0.4291061887111897,
        -0.9032540325739368,
        0.00017733775208816915
      ]
    ],
    "position_light": [
      310.324402,
      205.067017,
      268.814758
    ],
    "rotation_matrix_light": [
      [
        0.3354801446001674,
        0.3567046260096459,
        0.8719030234850489
      ],
      [
        0.597342818806535,
        0.6351349771368953,
        -0.48967858605168657
      ],
      [
        -0.7284467237892653,
        0.6851024526307248,
        2.271885769511428e-07
      ]
    ],
    "servo_angle": [
      [
        129.837966,
        -8.963123,
        -65.928134,
        252.991061,
        41.751205,
        -181.97999,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.619927,
        -38.633456,
        -24.189591,
        -246.733617,
        53.134387,
        98.403496,
        0.0
      ]
    ],
    "turn_angle": 1120.1980071394476,
    "filename": "scan-0346_light-34_camera-346.png"
  },
  {
    "id": 347,
    "scan_id": "0347",
    "camera_id": 347,
    "light_id": 34,
    "position": [
      -103.413223,
      -136.381149,
      371.430176
    ],
    "rotation_matrix": [
      [
        0.8775485161564052,
        0.4794878530156991,
        -2.453745094624371e-05
      ],
      [
        -6.317895778987226e-05,
        0.0001668030810659804,
        0.9999999840925754
      ],
      [
        0.4794878494812047,
        -0.8775485006466178,
        0.0001766713391062602
      ]
    ],
    "position_light": [
      310.324402,
      205.067017,
      268.814758
    ],
    "rotation_matrix_light": [
      [
        0.3354801446001674,
        0.3567046260096459,
        0.8719030234850489
      ],
      [
        0.597342818806535,
        0.6351349771368953,
        -0.48967858605168657
      ],
      [
        -0.7284467237892653,
        0.6851024526307248,
        2.271885769511428e-07
      ]
    ],
    "servo_angle": [
      [
        132.889883,
        -5.444302,
        -67.569887,
        252.945282,
        45.103925,
        -183.909368,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.619927,
        -38.633456,
        -24.189591,
        -246.733617,
        53.134387,
        98.403496,
        0.0
      ]
    ],
    "turn_angle": 1120.1980071394476,
    "filename": "scan-0347_light-34_camera-347.png"
  },
  {
    "id": 348,
    "scan_id": "0348",
    "camera_id": 348,
    "light_id": 34,
    "position": [
      -122.622559,
      -136.381149,
      359.243225
    ],
    "rotation_matrix": [
      [
        0.8552817362755512,
        0.5181632470028363,
        -3.238759387980128e-05
      ],
      [
        -6.329252519554629e-05,
        0.00016697543622873345,
        0.9999999840566298
      ],
      [
        0.5181632441495005,
        -0.8552817205895853,
        0.00017560690137935486
      ]
    ],
    "position_light": [
      310.324402,
      205.067017,
      268.814758
    ],
    "rotation_matrix_light": [
      [
        0.3354801446001674,
        0.3567046260096459,
        0.8719030234850489
      ],
      [
        0.597342818806535,
        0.6351349771368953,
        -0.48967858605168657
      ],
      [
        -0.7284467237892653,
        0.6851024526307248,
        2.271885769511428e-07
      ]
    ],
    "servo_angle": [
      [
        135.050736,
        -2.535338,
        -68.985379,
        252.886439,
        47.510004,
        -185.361816,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.619927,
        -38.633456,
        -24.189591,
        -246.733617,
        53.134387,
        98.403496,
        0.0
      ]
    ],
    "turn_angle": 1120.1980071394476,
    "filename": "scan-0348_light-34_camera-348.png"
  },
  {
    "id": 349,
    "scan_id": "0349",
    "camera_id": 349,
    "light_id": 34,
    "position": [
      -152.761749,
      -136.381149,
      337.539307
    ],
    "rotation_matrix": [
      [
        0.8152839081551408,
        0.5790614363305617,
        -4.5365922296536354e-05
      ],
      [
        -6.278006234416988e-05,
        0.0001667344604581733,
        0.9999999841291417
      ],
      [
        0.5790614347044223,
        -0.81528389236781,
        0.00017228943562036525
      ]
    ],
    "position_light": [
      310.324402,
      205.067017,
      268.814758
    ],
    "rotation_matrix_light": [
      [
        0.3354801446001674,
        0.3567046260096459,
        0.8719030234850489
      ],
      [
        0.597342818806535,
        0.6351349771368953,
        -0.48967858605168657
      ],
      [
        -0.7284467237892653,
        0.6851024526307248,
        2.271885769511428e-07
      ]
    ],
    "servo_angle": [
      [
        138.157886,
        2.418627,
        -71.503872,
        252.773166,
        51.02596,
        -187.653361,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.619927,
        -38.633456,
        -24.189591,
        -246.733617,
        53.134387,
        98.403496,
        0.0
      ]
    ],
    "turn_angle": 1120.1980071394476,
    "filename": "scan-0349_light-34_camera-349.png"
  },
  {
    "id": 350,
    "scan_id": "0350",
    "camera_id": 350,
    "light_id": 35,
    "position": [
      -169.783096,
      -136.381149,
      323.717041
    ],
    "rotation_matrix": [
      [
        0.7896279000510604,
        0.6135859978399673,
        -5.211222355883116e-05
      ],
      [
        -6.317488534612892e-05,
        0.00016623077310395917,
        0.9999999841881316
      ],
      [
        0.6135859968006816,
        -0.7896278842733845,
        0.00017002368135343726
      ]
    ],
    "position_light": [
      140.941772,
      198.323914,
      298.729553
    ],
    "rotation_matrix_light": [
      [
        0.07853049404428586,
        -0.06753329846954925,
        -0.9946216441959139
      ],
      [
        -0.7541197163099189,
        0.6485180557052315,
        -0.10357502062251123
      ],
      [
        0.6520248576379644,
        0.7581975896968607,
        2.514278419352145e-07
      ]
    ],
    "servo_angle": [
      [
        139.77145,
        5.440349,
        -73.101966,
        252.703952,
        52.882744,
        -188.980503,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.411334,
        -33.185773,
        -31.659299,
        -89.749942,
        88.487315,
        66.081171,
        0.0
      ]
    ],
    "turn_angle": 1156.4522789344733,
    "filename": "scan-0350_light-35_camera-350.png"
  },
  {
    "id": 351,
    "scan_id": "0351",
    "camera_id": 351,
    "light_id": 35,
    "position": [
      -203.59462,
      -136.381149,
      292.290894
    ],
    "rotation_matrix": [
      [
        0.7308853889728602,
        0.6825002150845922,
        -6.778994613332312e-05
      ],
      [
        -6.285056859250959e-05,
        0.00016663219266110918,
        0.9999999841417595
      ],
      [
        0.6825002155573269,
        -0.7308853731216669,
        0.00016468456153106992
      ]
    ],
    "position_light": [
      140.941772,
      198.323914,
      298.729553
    ],
    "rotation_matrix_light": [
      [
        0.07853049404428586,
        -0.06753329846954925,
        -0.9946216441959139
      ],
      [
        -0.7541197163099189,
        0.6485180557052315,
        -0.10357502062251123
      ],
      [
        0.6520248576379644,
        0.7581975896968607,
        2.514278419352145e-07
      ]
    ],
    "servo_angle": [
      [
        142.704707,
        11.987022,
        -76.715153,
        252.563406,
        56.325934,
        -191.761468,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.411334,
        -33.185773,
        -31.659299,
        -89.749942,
        88.487315,
        66.081171,
        0.0
      ]
    ],
    "turn_angle": 1156.4522789344733,
    "filename": "scan-0351_light-35_camera-351.png"
  },
  {
    "id": 352,
    "scan_id": "0352",
    "camera_id": 352,
    "light_id": 35,
    "position": [
      -232.667328,
      -136.381149,
      260.069519
    ],
    "rotation_matrix": [
      [
        0.6701844815331315,
        0.7421945527189593,
        -8.140314212751187e-05
      ],
      [
        -6.299964253642099e-05,
        0.0001665661963617393,
        0.9999999841433735
      ],
      [
        0.7421945545092692,
        -0.6701844657778977,
        0.00015838807146345557
      ]
    ],
    "position_light": [
      140.941772,
      198.323914,
      298.729553
    ],
    "rotation_matrix_light": [
      [
        0.07853049404428586,
        -0.06753329846954925,
        -0.9946216441959139
      ],
      [
        -0.7541197163099189,
        0.6485180557052315,
        -0.10357502062251123
      ],
      [
        0.6520248576379644,
        0.7581975896968607,
        2.514278419352145e-07
      ]
    ],
    "servo_angle": [
      [
        144.968406,
        18.317002,
        -80.396406,
        252.440449,
        59.059974,
        -194.404064,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.411334,
        -33.185773,
        -31.659299,
        -89.749942,
        88.487315,
        66.081171,
        0.0
      ]
    ],
    "turn_angle": 1156.4522789344733,
    "filename": "scan-0352_light-35_camera-352.png"
  },
  {
    "id": 353,
    "scan_id": "0353",
    "camera_id": 353,
    "light_id": 35,
    "position": [
      -240.28685,
      -136.381149,
      250.639465
    ],
    "rotation_matrix": [
      [
        0.6523450096796006,
        0.7579221470931208,
        -8.539247693067908e-05
      ],
      [
        -6.262062572059968e-05,
        0.00016656424245514723,
        0.9999999841675048
      ],
      [
        0.7579221493166555,
        -0.6523449940040212,
        0.0001561189114552275
      ]
    ],
    "position_light": [
      140.941772,
      198.323914,
      298.729553
    ],
    "rotation_matrix_light": [
      [
        0.07853049404428586,
        -0.06753329846954925,
        -0.9946216441959139
      ],
      [
        -0.7541197163099189,
        0.6485180557052315,
        -0.10357502062251123
      ],
      [
        0.6520248576379644,
        0.7581975896968607,
        2.514278419352145e-07
      ]
    ],
    "servo_angle": [
      [
        145.526181,
        20.108928,
        -81.471046,
        252.407275,
        59.746893,
        -195.152404,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.411334,
        -33.185773,
        -31.659299,
        -89.749942,
        88.487315,
        66.081171,
        0.0
      ]
    ],
    "turn_angle": 1156.4522789344733,
    "filename": "scan-0353_light-35_camera-353.png"
  },
  {
    "id": 354,
    "scan_id": "0354",
    "camera_id": 354,
    "light_id": 35,
    "position": [
      -265.495697,
      -136.381149,
      215.733353
    ],
    "rotation_matrix": [
      [
        0.5860564965546937,
        0.8102701853026331,
        -9.826329014256396e-05
      ],
      [
        -6.271164167109822e-05,
        0.00016663065733518723,
        0.9999999841507365
      ],
      [
        0.8102701888341244,
        -0.586056481103878,
        0.0001484683527739894
      ]
    ],
    "position_light": [
      140.941772,
      198.323914,
      298.729553
    ],
    "rotation_matrix_light": [
      [
        0.07853049404428586,
        -0.06753329846954925,
        -0.9946216441959139
      ],
      [
        -0.7541197163099189,
        0.6485180557052315,
        -0.10357502062251123
      ],
      [
        0.6520248576379644,
        0.7581975896968607,
        2.514278419352145e-07
      ]
    ],
    "servo_angle": [
      [
        147.276509,
        26.544676,
        -85.447431,
        252.290964,
        61.946822,
        -197.860948,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.411334,
        -33.185773,
        -31.659299,
        -89.749942,
        88.487315,
        66.081171,
        0.0
      ]
    ],
    "turn_angle": 1156.4522789344733,
    "filename": "scan-0354_light-35_camera-354.png"
  },
  {
    "id": 355,
    "scan_id": "0355",
    "camera_id": 355,
    "light_id": 35,
    "position": [
      -284.681641,
      -136.381149,
      184.230942
    ],
    "rotation_matrix": [
      [
        0.5259318143944415,
        0.8505267279130662,
        -0.00010822783197017571
      ],
      [
        -6.310728769276519e-05,
        0.0001662710364475073,
        0.9999999841857061
      ],
      [
        0.8505267324577404,
        -0.5259317992472363,
        0.00014112166278879013
      ]
    ],
    "position_light": [
      140.941772,
      198.323914,
      298.729553
    ],
    "rotation_matrix_light": [
      [
        0.07853049404428586,
        -0.06753329846954925,
        -0.9946216441959139
      ],
      [
        -0.7541197163099189,
        0.6485180557052315,
        -0.10357502062251123
      ],
      [
        0.6520248576379644,
        0.7581975896968607,
        2.514278419352145e-07
      ]
    ],
    "servo_angle": [
      [
        148.519713,
        32.13302,
        -89.047439,
        252.18915,
        63.562906,
        -200.256026,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.411334,
        -33.185773,
        -31.659299,
        -89.749942,
        88.487315,
        66.081171,
        0.0
      ]
    ],
    "turn_angle": 1156.4522789344733,
    "filename": "scan-0355_light-35_camera-355.png"
  },
  {
    "id": 356,
    "scan_id": "0356",
    "camera_id": 356,
    "light_id": 35,
    "position": [
      -302.74472,
      -136.381149,
      148.834427
    ],
    "rotation_matrix": [
      [
        0.45808113376087456,
        0.888910378307232,
        -0.00011928975594566182
      ],
      [
        -6.276093899204582e-05,
        0.00016654024945428336,
        0.999999984162705
      ],
      [
        0.8889103840958416,
        -0.4580811190193714,
        0.00013207779630913796
      ]
    ],
    "position_light": [
      140.941772,
      198.323914,
      298.729553
    ],
    "rotation_matrix_light": [
      [
        0.07853049404428586,
        -0.06753329846954925,
        -0.9946216441959139
      ],
      [
        -0.7541197163099189,
        0.6485180557052315,
        -0.10357502062251123
      ],
      [
        0.6520248576379644,
        0.7581975896968607,
        2.514278419352145e-07
      ]
    ],
    "servo_angle": [
      [
        149.628902,
        38.223447,
        -93.127586,
        252.071636,
        65.060733,
        -202.928129,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.411334,
        -33.185773,
        -31.659299,
        -89.749942,
        88.487315,
        66.081171,
        0.0
      ]
    ],
    "turn_angle": 1156.4522789344733,
    "filename": "scan-0356_light-35_camera-356.png"
  },
  {
    "id": 357,
    "scan_id": "0357",
    "camera_id": 357,
    "light_id": 35,
    "position": [
      -313.936859,
      -136.381149,
      122.727661
    ],
    "rotation_matrix": [
      [
        0.4078575242149708,
        0.9130455760327112,
        -0.00012660303663492023
      ],
      [
        -6.281326221091454e-05,
        0.0001667188366437089,
        0.9999999841296616
      ],
      [
        0.91304558264948,
        -0.40785750978978413,
        0.0001253489031313726
      ]
    ],
    "position_light": [
      140.941772,
      198.323914,
      298.729553
    ],
    "rotation_matrix_light": [
      [
        0.07853049404428586,
        -0.06753329846954925,
        -0.9946216441959139
      ],
      [
        -0.7541197163099189,
        0.6485180557052315,
        -0.10357502062251123
      ],
      [
        0.6520248576379644,
        0.7581975896968607,
        2.514278419352145e-07
      ]
    ],
    "servo_angle": [
      [
        150.290611,
        42.619752,
        -96.175951,
        251.979906,
        65.991675,
        -204.903287,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.411334,
        -33.185773,
        -31.659299,
        -89.749942,
        88.487315,
        66.081171,
        0.0
      ]
    ],
    "turn_angle": 1156.4522789344733,
    "filename": "scan-0357_light-35_camera-357.png"
  },
  {
    "id": 358,
    "scan_id": "0358",
    "camera_id": 358,
    "light_id": 35,
    "position": [
      -328.087158,
      -136.381149,
      82.067146
    ],
    "rotation_matrix": [
      [
        0.3293596691844151,
        0.9442045273982573,
        -0.0001369502313078308
      ],
      [
        -6.290485851390137e-05,
        0.00016698559257305456,
        0.9999999840793949
      ],
      [
        0.9442045352346657,
        -0.32935965532597494,
        0.00011439337173263509
      ]
    ],
    "position_light": [
      140.941772,
      198.323914,
      298.729553
    ],
    "rotation_matrix_light": [
      [
        0.07853049404428586,
        -0.06753329846954925,
        -0.9946216441959139
      ],
      [
        -0.7541197163099189,
        0.6485180557052315,
        -0.10357502062251123
      ],
      [
        0.6520248576379644,
        0.7581975896968607,
        2.514278419352145e-07
      ]
    ],
    "servo_angle": [
      [
        151.105873,
        49.359054,
        -101.023116,
        251.824519,
        67.200902,
        -208.013817,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.411334,
        -33.185773,
        -31.659299,
        -89.749942,
        88.487315,
        66.081171,
        0.0
      ]
    ],
    "turn_angle": 1156.4522789344733,
    "filename": "scan-0358_light-35_camera-358.png"
  },
  {
    "id": 359,
    "scan_id": "0359",
    "camera_id": 359,
    "light_id": 35,
    "position": [
      -334.368591,
      -136.381149,
      59.328217
    ],
    "rotation_matrix": [
      [
        0.28532289589265825,
        0.9584314397712432,
        -0.00014260943092464506
      ],
      [
        -6.277068208720982e-05,
        0.00016748129785076893,
        0.9999999840049285
      ],
      [
        0.9584314483254761,
        -0.28532288237720677,
        0.00010794764411881097
      ]
    ],
    "position_light": [
      140.941772,
      198.323914,
      298.729553
    ],
    "rotation_matrix_light": [
      [
        0.07853049404428586,
        -0.06753329846954925,
        -0.9946216441959139
      ],
      [
        -0.7541197163099189,
        0.6485180557052315,
        -0.10357502062251123
      ],
      [
        0.6520248576379644,
        0.7581975896968607,
        2.514278419352145e-07
      ]
    ],
    "servo_angle": [
      [
        151.463513,
        53.094968,
        -103.804998,
        251.729752,
        67.766469,
        -209.783455,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.411334,
        -33.185773,
        -31.659299,
        -89.749942,
        88.487315,
        66.081171,
        0.0
      ]
    ],
    "turn_angle": 1156.4522789344733,
    "filename": "scan-0359_light-35_camera-359.png"
  },
  {
    "id": 360,
    "scan_id": "0360",
    "camera_id": 360,
    "light_id": 36,
    "position": [
      -333.437317,
      -136.381149,
      62.97438
    ],
    "rotation_matrix": [
      [
        0.2923911592211625,
        0.9562987975070609,
        -0.0001410526656526745
      ],
      [
        -6.286617926415383e-05,
        0.00016672004488571535,
        0.9999999841261351
      ],
      [
        0.9562988058432096,
        -0.29239114571234254,
        0.00010886631882378595
      ]
    ],
    "position_light": [
      157.170807,
      216.653488,
      150.229614
    ],
    "rotation_matrix_light": [
      [
        0.04150126839614948,
        0.06331766387656348,
        0.9971301410361261
      ],
      [
        0.5466107374212917,
        0.8339575648068129,
        -0.07570655082119154
      ],
      [
        -0.836357786152112,
        0.5481839595817306,
        1.8178468502716427e-07
      ]
    ],
    "servo_angle": [
      [
        151.410514,
        52.496685,
        -103.354768,
        251.745337,
        67.680697,
        -209.497892,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.747286,
        -9.386137,
        -29.07778,
        -291.117106,
        106.760716,
        68.458888,
        0.0
      ]
    ],
    "turn_angle": 1189.005086797087,
    "filename": "scan-0360_light-36_camera-360.png"
  },
  {
    "id": 361,
    "scan_id": "0361",
    "camera_id": 361,
    "light_id": 36,
    "position": [
      -325.940247,
      -136.381149,
      89.012726
    ],
    "rotation_matrix": [
      [
        0.3427919552659705,
        0.9394113353433096,
        -0.00013576977927043377
      ],
      [
        -6.27301647980194e-05,
        0.00016741672899700522,
        0.9999999840182827
      ],
      [
        0.9394113430600354,
        -0.3427919412707057,
        0.00011631853575633233
      ]
    ],
    "position_light": [
      157.170807,
      216.653488,
      150.229614
    ],
    "rotation_matrix_light": [
      [
        0.04150126839614948,
        0.06331766387656348,
        0.9971301410361261
      ],
      [
        0.5466107374212917,
        0.8339575648068129,
        -0.07570655082119154
      ],
      [
        -0.836357786152112,
        0.5481839595817306,
        1.8178468502716427e-07
      ]
    ],
    "servo_angle": [
      [
        150.98326,
        48.214513,
        -100.18465,
        251.852308,
        67.013086,
        -207.478216,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.747286,
        -9.386137,
        -29.07778,
        -291.117106,
        106.760716,
        68.458888,
        0.0
      ]
    ],
    "turn_angle": 1189.005086797087,
    "filename": "scan-0361_light-36_camera-361.png"
  },
  {
    "id": 362,
    "scan_id": "0362",
    "camera_id": 362,
    "light_id": 36,
    "position": [
      -309.656158,
      -136.381149,
      133.194168
    ],
    "rotation_matrix": [
      [
        0.4280105177477702,
        0.9037737446052216,
        -0.00012352951467070605
      ],
      [
        -6.29139639441445e-05,
        0.000166476789012604,
        0.9999999841636555
      ],
      [
        0.9037737508575465,
        -0.42801050319791684,
        0.00012811380543997775
      ]
    ],
    "position_light": [
      157.170807,
      216.653488,
      150.229614
    ],
    "rotation_matrix_light": [
      [
        0.04150126839614948,
        0.06331766387656348,
        0.9971301410361261
      ],
      [
        0.5466107374212917,
        0.8339575648068129,
        -0.07570655082119154
      ],
      [
        -0.836357786152112,
        0.5481839595817306,
        1.8178468502716427e-07
      ]
    ],
    "servo_angle": [
      [
        150.039541,
        40.865298,
        -94.948904,
        252.01732,
        65.634321,
        -204.110141,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.747286,
        -9.386137,
        -29.07778,
        -291.117106,
        106.760716,
        68.458888,
        0.0
      ]
    ],
    "turn_angle": 1189.005086797087,
    "filename": "scan-0362_light-36_camera-362.png"
  },
  {
    "id": 363,
    "scan_id": "0363",
    "camera_id": 363,
    "light_id": 36,
    "position": [
      -303.356201,
      -136.381149,
      147.506104
    ],
    "rotation_matrix": [
      [
        0.4555289617124908,
        0.8902209561378144,
        -0.00011955842042887799
      ],
      [
        -6.286444749914466e-05,
        0.00016646990167118458,
        0.9999999841679165
      ],
      [
        0.8902209619466402,
        -0.45552894698454416,
        0.00013179511002442412
      ]
    ],
    "position_light": [
      157.170807,
      216.653488,
      150.229614
    ],
    "rotation_matrix_light": [
      [
        0.04150126839614948,
        0.06331766387656348,
        0.9971301410361261
      ],
      [
        0.5466107374212917,
        0.8339575648068129,
        -0.07570655082119154
      ],
      [
        -0.836357786152112,
        0.5481839595817306,
        1.8178468502716427e-07
      ]
    ],
    "servo_angle": [
      [
        149.665514,
        38.448849,
        -93.281712,
        252.06711,
        65.111382,
        -203.028454,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.747286,
        -9.386137,
        -29.07778,
        -291.117106,
        106.760716,
        68.458888,
        0.0
      ]
    ],
    "turn_angle": 1189.005086797087,
    "filename": "scan-0363_light-36_camera-363.png"
  },
  {
    "id": 364,
    "scan_id": "0364",
    "camera_id": 364,
    "light_id": 36,
    "position": [
      -286.854126,
      -136.381149,
      180.314514
    ],
    "rotation_matrix": [
      [
        0.5184397448764515,
        0.85511415541821,
        -0.00011016279546516294
      ],
      [
        -6.273311576038276e-05,
        0.00016686208892785492,
        0.9999999841107998
      ],
      [
        0.855114160213124,
        -0.518439729728003,
        0.00014015191411348438
      ]
    ],
    "position_light": [
      157.170807,
      216.653488,
      150.229614
    ],
    "rotation_matrix_light": [
      [
        0.04150126839614948,
        0.06331766387656348,
        0.9971301410361261
      ],
      [
        0.5466107374212917,
        0.8339575648068129,
        -0.07570655082119154
      ],
      [
        -0.836357786152112,
        0.5481839595817306,
        1.8178468502716427e-07
      ]
    ],
    "servo_angle": [
      [
        148.656077,
        32.815699,
        -89.496638,
        252.17643,
        63.743732,
        -200.552131,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.747286,
        -9.386137,
        -29.07778,
        -291.117106,
        106.760716,
        68.458888,
        0.0
      ]
    ],
    "turn_angle": 1189.005086797087,
    "filename": "scan-0364_light-36_camera-364.png"
  },
  {
    "id": 365,
    "scan_id": "0365",
    "camera_id": 365,
    "light_id": 36,
    "position": [
      -261.348083,
      -136.381149,
      221.920883
    ],
    "rotation_matrix": [
      [
        0.597833978252613,
        0.8016199380879832,
        -9.647005799617858e-05
      ],
      [
        -6.277197477633223e-05,
        0.00016715811258538604,
        0.999999984058922
      ],
      [
        0.8016199414350501,
        -0.5978339626668789,
        0.0001502520659779627
      ]
    ],
    "position_light": [
      157.170807,
      216.653488,
      150.229614
    ],
    "rotation_matrix_light": [
      [
        0.04150126839614948,
        0.06331766387656348,
        0.9971301410361261
      ],
      [
        0.5466107374212917,
        0.8339575648068129,
        -0.07570655082119154
      ],
      [
        -0.836357786152112,
        0.5481839595817306,
        1.8178468502716427e-07
      ]
    ],
    "servo_angle": [
      [
        146.998052,
        25.424372,
        -84.742177,
        252.311132,
        61.591645,
        -197.386252,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.747286,
        -9.386137,
        -29.07778,
        -291.117106,
        106.760716,
        68.458888,
        0.0
      ]
    ],
    "turn_angle": 1189.005086797087,
    "filename": "scan-0365_light-36_camera-365.png"
  },
  {
    "id": 366,
    "scan_id": "0366",
    "camera_id": 366,
    "light_id": 36,
    "position": [
      -245.755661,
      -136.381149,
      243.577652
    ],
    "rotation_matrix": [
      [
        0.6389652334646492,
        0.7692356092957053,
        -8.840210039340324e-05
      ],
      [
        -6.261874483382002e-05,
        0.00016693623949348702,
        0.9999999841055922
      ],
      [
        0.7692356118266751,
        -0.6389652177730467,
        0.00015483502157731532
      ]
    ],
    "position_light": [
      157.170807,
      216.653488,
      150.229614
    ],
    "rotation_matrix_light": [
      [
        0.04150126839614948,
        0.06331766387656348,
        0.9971301410361261
      ],
      [
        0.5466107374212917,
        0.8339575648068129,
        -0.07570655082119154
      ],
      [
        -0.836357786152112,
        0.5481839595817306,
        1.8178468502716427e-07
      ]
    ],
    "servo_angle": [
      [
        145.918026,
        21.434924,
        -82.275422,
        252.383096,
        60.233162,
        -195.707314,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.747286,
        -9.386137,
        -29.07778,
        -291.117106,
        106.760716,
        68.458888,
        0.0
      ]
    ],
    "turn_angle": 1189.005086797087,
    "filename": "scan-0366_light-36_camera-366.png"
  },
  {
    "id": 367,
    "scan_id": "0367",
    "camera_id": 367,
    "light_id": 36,
    "position": [
      -224.106293,
      -136.381149,
      270.142029
    ],
    "rotation_matrix": [
      [
        0.6892043189090783,
        0.724567043621974,
        -7.806398455967312e-05
      ],
      [
        -6.271860439366339e-05,
        0.00016739640231233643,
        0.9999999840224103
      ],
      [
        0.7245670451127694,
        -0.6892043030011905,
        0.00016081415720914372
      ]
    ],
    "position_light": [
      157.170807,
      216.653488,
      150.229614
    ],
    "rotation_matrix_light": [
      [
        0.04150126839614948,
        0.06331766387656348,
        0.9971301410361261
      ],
      [
        0.5466107374212917,
        0.8339575648068129,
        -0.07570655082119154
      ],
      [
        -0.836357786152112,
        0.5481839595817306,
        1.8178468502716427e-07
      ]
    ],
    "servo_angle": [
      [
        144.324631,
        16.374389,
        -79.247454,
        252.477061,
        58.274277,
        -193.593959,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.747286,
        -9.386137,
        -29.07778,
        -291.117106,
        106.760716,
        68.458888,
        0.0
      ]
    ],
    "turn_angle": 1189.005086797087,
    "filename": "scan-0367_light-36_camera-367.png"
  },
  {
    "id": 368,
    "scan_id": "0368",
    "camera_id": 368,
    "light_id": 36,
    "position": [
      -207.302094,
      -136.381149,
      288.478424
    ],
    "rotation_matrix": [
      [
        0.7237259011340432,
        0.6900875417228161,
        -6.918581623588382e-05
      ],
      [
        -6.296752844464626e-05,
        0.0001662934620171308,
        0.9999999841907872
      ],
      [
        0.6900875423182242,
        -0.7237258853360466,
        0.00016380399256377132
      ]
    ],
    "position_light": [
      157.170807,
      216.653488,
      150.229614
    ],
    "rotation_matrix_light": [
      [
        0.04150126839614948,
        0.06331766387656348,
        0.9971301410361261
      ],
      [
        0.5466107374212917,
        0.8339575648068129,
        -0.07570655082119154
      ],
      [
        -0.836357786152112,
        0.5481839595817306,
        1.8178468502716427e-07
      ]
    ],
    "servo_angle": [
      [
        143.005911,
        12.754384,
        -77.151746,
        252.547879,
        56.68535,
        -192.08284,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.747286,
        -9.386137,
        -29.07778,
        -291.117106,
        106.760716,
        68.458888,
        0.0
      ]
    ],
    "turn_angle": 1189.005086797087,
    "filename": "scan-0368_light-36_camera-368.png"
  },
  {
    "id": 369,
    "scan_id": "0369",
    "camera_id": 369,
    "light_id": 36,
    "position": [
      -174.637848,
      -136.381149,
      319.545624
    ],
    "rotation_matrix": [
      [
        0.7818616717962528,
        0.6234519412890296,
        -5.548791933390751e-05
      ],
      [
        -6.255354131878832e-05,
        0.00016744856808664776,
        0.9999999840240156
      ],
      [
        0.6234519406201438,
        -0.7818616558342769,
        0.00016992074415383973
      ]
    ],
    "position_light": [
      157.170807,
      216.653488,
      150.229614
    ],
    "rotation_matrix_light": [
      [
        0.04150126839614948,
        0.06331766387656348,
        0.9971301410361261
      ],
      [
        0.5466107374212917,
        0.8339575648068129,
        -0.07570655082119154
      ],
      [
        -0.836357786152112,
        0.5481839595817306,
        1.8178468502716427e-07
      ]
    ],
    "servo_angle": [
      [
        140.214174,
        6.333934,
        -73.583136,
        252.683956,
        53.396515,
        -189.366218,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.747286,
        -9.386137,
        -29.07778,
        -291.117106,
        106.760716,
        68.458888,
        0.0
      ]
    ],
    "turn_angle": 1189.005086797087,
    "filename": "scan-0369_light-36_camera-369.png"
  },
  {
    "id": 370,
    "scan_id": "0370",
    "camera_id": 370,
    "light_id": 37,
    "position": [
      -158.19783,
      -136.381149,
      333.256134
    ],
    "rotation_matrix": [
      [
        0.8073476863095714,
        0.5900760215214975,
        -4.728576583645783e-05
      ],
      [
        -6.297212199740665e-05,
        0.00016629410195745375,
        0.9999999841903919
      ],
      [
        0.5900760200559706,
        -0.8073476705680358,
        0.00017141549767729636
      ]
    ],
    "position_light": [
      322.499725,
      188.80188,
      460.155182
    ],
    "rotation_matrix_light": [
      [
        0.4462471268402114,
        0.29542053591978223,
        0.8447426878900612
      ],
      [
        0.7043779753641584,
        0.4663066336282284,
        -0.5351726742428079
      ],
      [
        -0.5520101173065088,
        0.8338374124439237,
        2.7651095718672636e-07
      ]
    ],
    "servo_angle": [
      [
        138.683804,
        3.365325,
        -71.999653,
        252.751279,
        51.628597,
        -188.073511,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -70.401272,
        -37.604309,
        -49.972233,
        -266.670085,
        38.359066,
        142.62329,
        0.0
      ]
    ],
    "turn_angle": 1214.5498004157384,
    "filename": "scan-0370_light-37_camera-370.png"
  },
  {
    "id": 371,
    "scan_id": "0371",
    "camera_id": 371,
    "light_id": 37,
    "position": [
      -113.882812,
      -136.381149,
      364.937256
    ],
    "rotation_matrix": [
      [
        0.8657051131761936,
        0.5005543488901301,
        -2.8771022511420163e-05
      ],
      [
        -6.320263945491789e-05,
        0.000166786824210452,
        0.9999999840937908
      ],
      [
        0.5005543457268353,
        -0.8657050975877023,
        0.00017602456256993193
      ]
    ],
    "position_light": [
      322.499725,
      188.80188,
      460.155182
    ],
    "rotation_matrix_light": [
      [
        0.4462471268402114,
        0.29542053591978223,
        0.8447426878900612
      ],
      [
        0.7043779753641584,
        0.4663066336282284,
        -0.5351726742428079
      ],
      [
        -0.5520101173065088,
        0.8338374124439237,
        2.7651095718672636e-07
      ]
    ],
    "servo_angle": [
      [
        134.08576,
        -3.882247,
        -68.323842,
        252.91503,
        46.431927,
        -184.701941,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -70.401272,
        -37.604309,
        -49.972233,
        -266.670085,
        38.359066,
        142.62329,
        0.0
      ]
    ],
    "turn_angle": 1214.5498004157384,
    "filename": "scan-0371_light-37_camera-371.png"
  },
  {
    "id": 372,
    "scan_id": "0372",
    "camera_id": 372,
    "light_id": 37,
    "position": [
      -109.938286,
      -136.381149,
      367.424744
    ],
    "rotation_matrix": [
      [
        0.8702478989077216,
        0.492614041295069,
        -2.7670135169133303e-05
      ],
      [
        -6.265335107930037e-05,
        0.00016685290100521,
        0.9999999841173335
      ],
      [
        0.4926140380878868,
        -0.8702478833522376,
        0.00017606730700231443
      ]
    ],
    "position_light": [
      322.499725,
      188.80188,
      460.155182
    ],
    "rotation_matrix_light": [
      [
        0.4462471268402114,
        0.29542053591978223,
        0.8447426878900612
      ],
      [
        0.7043779753641584,
        0.4663066336282284,
        -0.5351726742428079
      ],
      [
        -0.5520101173065088,
        0.8338374124439237,
        2.7651095718672636e-07
      ]
    ],
    "servo_angle": [
      [
        133.6404,
        -4.477321,
        -68.034899,
        252.927005,
        45.936318,
        -184.403773,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -70.401272,
        -37.604309,
        -49.972233,
        -266.670085,
        38.359066,
        142.62329,
        0.0
      ]
    ],
    "turn_angle": 1214.5498004157384,
    "filename": "scan-0372_light-37_camera-372.png"
  },
  {
    "id": 373,
    "scan_id": "0373",
    "camera_id": 373,
    "light_id": 37,
    "position": [
      -76.100639,
      -136.381149,
      386.790131
    ],
    "rotation_matrix": [
      [
        0.9053509132025922,
        0.4246642482672402,
        -1.43823528380993e-05
      ],
      [
        -6.246275373122945e-05,
        0.00016703328342460022,
        0.9999999840991431
      ],
      [
        0.4246642439170464,
        -0.9053508979083755,
        0.0001777494340416963
      ]
    ],
    "position_light": [
      322.499725,
      188.80188,
      460.155182
    ],
    "rotation_matrix_light": [
      [
        0.4462471268402114,
        0.29542053591978223,
        0.8447426878900612
      ],
      [
        0.7043779753641584,
        0.4663066336282284,
        -0.5351726742428079
      ],
      [
        -0.5520101173065088,
        0.8338374124439237,
        2.7651095718672636e-07
      ]
    ],
    "servo_angle": [
      [
        129.555498,
        -9.258597,
        -65.794176,
        252.992666,
        41.443241,
        -181.806327,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -70.401272,
        -37.604309,
        -49.972233,
        -266.670085,
        38.359066,
        142.62329,
        0.0
      ]
    ],
    "turn_angle": 1214.5498004157384,
    "filename": "scan-0373_light-37_camera-373.png"
  },
  {
    "id": 374,
    "scan_id": "0374",
    "camera_id": 374,
    "light_id": 37,
    "position": [
      -31.057056,
      -136.381149,
      407.604523
    ],
    "rotation_matrix": [
      [
        0.9423494490190749,
        0.33463041690819034,
        3.646503489718178e-06
      ],
      [
        -6.314041925847835e-05,
        0.00016691201111812548,
        0.999999984076834
      ],
      [
        0.3346304109711694,
        -0.9423494342441298,
        0.00017841814653202226
      ]
    ],
    "position_light": [
      322.499725,
      188.80188,
      460.155182
    ],
    "rotation_matrix_light": [
      [
        0.4462471268402114,
        0.29542053591978223,
        0.8447426878900612
      ],
      [
        0.7043779753641584,
        0.4663066336282284,
        -0.5351726742428079
      ],
      [
        -0.5520101173065088,
        0.8338374124439237,
        2.7651095718672636e-07
      ]
    ],
    "servo_angle": [
      [
        123.335869,
        -14.716822,
        -63.4533,
        252.876584,
        34.750864,
        -178.065772,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -70.401272,
        -37.604309,
        -49.972233,
        -266.670085,
        38.359066,
        142.62329,
        0.0
      ]
    ],
    "turn_angle": 1214.5498004157384,
    "filename": "scan-0374_light-37_camera-374.png"
  },
  {
    "id": 375,
    "scan_id": "0375",
    "camera_id": 375,
    "light_id": 37,
    "position": [
      -2.858365,
      -136.381149,
      418.047577
    ],
    "rotation_matrix": [
      [
        0.9604409534633825,
        0.2784837064014999,
        1.3387723134666851e-05
      ],
      [
        -6.242487921676032e-05,
        0.00016721871521718779,
        0.9999999840705174
      ],
      [
        0.2784836997267208,
        -0.9604409389997823,
        0.0001779880140161394
      ]
    ],
    "position_light": [
      322.499725,
      188.80188,
      460.155182
    ],
    "rotation_matrix_light": [
      [
        0.4462471268402114,
        0.29542053591978223,
        0.8447426878900612
      ],
      [
        0.7043779753641584,
        0.4663066336282284,
        -0.5351726742428079
      ],
      [
        -0.5520101173065088,
        0.8338374124439237,
        2.7651095718672636e-07
      ]
    ],
    "servo_angle": [
      [
        118.97016,
        -17.580351,
        -62.367602,
        252.559338,
        30.13632,
        -175.39046,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -70.401272,
        -37.604309,
        -49.972233,
        -266.670085,
        38.359066,
        142.62329,
        0.0
      ]
    ],
    "turn_angle": 1214.5498004157384,
    "filename": "scan-0375_light-37_camera-375.png"
  },
  {
    "id": 376,
    "scan_id": "0376",
    "camera_id": 376,
    "light_id": 37,
    "position": [
      34.309399,
      -136.381149,
      429.023987
    ],
    "rotation_matrix": [
      [
        0.9788217310681352,
        0.2047144793490452,
        2.7085590714417962e-05
      ],
      [
        -6.264578862928694e-05,
        0.0001672254405088447,
        0.9999999840555788
      ],
      [
        0.20471447155559136,
        -0.9788217171581871,
        0.0001765083951601465
      ]
    ],
    "position_light": [
      322.499725,
      188.80188,
      460.155182
    ],
    "rotation_matrix_light": [
      [
        0.4462471268402114,
        0.29542053591978223,
        0.8447426878900612
      ],
      [
        0.7043779753641584,
        0.4663066336282284,
        -0.5351726742428079
      ],
      [
        -0.5520101173065088,
        0.8338374124439237,
        2.7651095718672636e-07
      ]
    ],
    "servo_angle": [
      [
        112.690886,
        -20.645274,
        -61.432019,
        251.56073,
        23.589761,
        -171.146103,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -70.401272,
        -37.604309,
        -49.972233,
        -266.670085,
        38.359066,
        142.62329,
        0.0
      ]
    ],
    "turn_angle": 1214.5498004157384,
    "filename": "scan-0376_light-37_camera-376.png"
  },
  {
    "id": 377,
    "scan_id": "0377",
    "camera_id": 377,
    "light_id": 37,
    "position": [
      66.311348,
      -136.381149,
      436.079102
    ],
    "rotation_matrix": [
      [
        0.9899526096900283,
        0.14139953692138374,
        3.906815715232215e-05
      ],
      [
        -6.335817848258929e-05,
        0.0001672808703745421,
        0.9999999840014259
      ],
      [
        0.14139952812383744,
        -0.9899525963274852,
        0.00017455895127604926
      ]
    ],
    "position_light": [
      322.499725,
      188.80188,
      460.155182
    ],
    "rotation_matrix_light": [
      [
        0.4462471268402114,
        0.29542053591978223,
        0.8447426878900612
      ],
      [
        0.7043779753641584,
        0.4663066336282284,
        -0.5351726742428079
      ],
      [
        -0.5520101173065088,
        0.8338374124439237,
        2.7651095718672636e-07
      ]
    ],
    "servo_angle": [
      [
        106.904528,
        -22.576542,
        -61.168917,
        249.7138,
        17.626187,
        -166.366947,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -70.401272,
        -37.604309,
        -49.972233,
        -266.670085,
        38.359066,
        142.62329,
        0.0
      ]
    ],
    "turn_angle": 1214.5498004157384,
    "filename": "scan-0377_light-37_camera-377.png"
  },
  {
    "id": 378,
    "scan_id": "0378",
    "camera_id": 378,
    "light_id": 37,
    "position": [
      106.023605,
      -136.381149,
      441.89682
    ],
    "rotation_matrix": [
      [
        0.9980085916826298,
        0.06307811191562826,
        5.219974880148193e-05
      ],
      [
        -6.288091463908102e-05,
        0.00016734719500532957,
        0.9999999840204534
      ],
      [
        0.06307810217218708,
        -0.9980085790172728,
        0.0001709803477802918
      ]
    ],
    "position_light": [
      322.499725,
      188.80188,
      460.155182
    ],
    "rotation_matrix_light": [
      [
        0.4462471268402114,
        0.29542053591978223,
        0.8447426878900612
      ],
      [
        0.7043779753641584,
        0.4663066336282284,
        -0.5351726742428079
      ],
      [
        -0.5520101173065088,
        0.8338374124439237,
        2.7651095718672636e-07
      ]
    ],
    "servo_angle": [
      [
        99.580179,
        -23.963731,
        -61.810229,
        244.798624,
        10.1107,
        -157.627966,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -70.401272,
        -37.604309,
        -49.972233,
        -266.670085,
        38.359066,
        142.62329,
        0.0
      ]
    ],
    "turn_angle": 1214.5498004157384,
    "filename": "scan-0378_light-37_camera-378.png"
  },
  {
    "id": 379,
    "scan_id": "0379",
    "camera_id": 379,
    "light_id": 37,
    "position": [
      123.77195,
      -136.381149,
      443.473572
    ],
    "rotation_matrix": [
      [
        0.999603418947431,
        0.02816028113543139,
        5.8266460868251074e-05
      ],
      [
        -6.298139894145814e-05,
        0.00016654527505627348,
        0.9999999841480073
      ],
      [
        0.028160270985031065,
        -0.999603406771428,
        0.00016825280025628553
      ]
    ],
    "position_light": [
      322.499725,
      188.80188,
      460.155182
    ],
    "rotation_matrix_light": [
      [
        0.4462471268402114,
        0.29542053591978223,
        0.8447426878900612
      ],
      [
        0.7043779753641584,
        0.4663066336282284,
        -0.5351726742428079
      ],
      [
        -0.5520101173065088,
        0.8338374124439237,
        2.7651095718672636e-07
      ]
    ],
    "servo_angle": [
      [
        96.469935,
        -24.195377,
        -62.582633,
        240.884291,
        6.881395,
        -151.931448,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -70.401272,
        -37.604309,
        -49.972233,
        -266.670085,
        38.359066,
        142.62329,
        0.0
      ]
    ],
    "turn_angle": 1214.5498004157384,
    "filename": "scan-0379_light-37_camera-379.png"
  },
  {
    "id": 380,
    "scan_id": "0380",
    "camera_id": 380,
    "light_id": 38,
    "position": [
      142.203278,
      -136.381149,
      444.451782
    ],
    "rotation_matrix": [
      [
        0.99996763711348,
        -0.008044910532084552,
        6.43444958242324e-05
      ],
      [
        -6.300434701184653e-05,
        0.00016683675801709708,
        0.999999984097974
      ],
      [
        -0.008044921139181257,
        -0.9999676252659516,
        0.000166324494363157
      ]
    ],
    "position_light": [
      376.602936,
      190.115906,
      448.72934
    ],
    "rotation_matrix_light": [
      [
        0.5084453463984292,
        0.37373151921600994,
        0.7757629027417299
      ],
      [
        0.6250674577439688,
        0.4594548449410864,
        -0.6310244993101726
      ],
      [
        -0.5922617689799614,
        0.8057456155665108,
        2.671953646671277e-07
      ]
    ],
    "servo_angle": [
      [
        93.579019,
        -24.178532,
        -63.797705,
        234.960252,
        3.77688,
        -144.098656,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -54.803413,
        -32.058994,
        -53.886451,
        -256.599722,
        16.422517,
        129.833841,
        0.0
      ]
    ],
    "turn_angle": 1249.5251560421318,
    "filename": "scan-0380_light-38_camera-380.png"
  },
  {
    "id": 381,
    "scan_id": "0381",
    "camera_id": 381,
    "light_id": 38,
    "position": [
      163.739365,
      -136.381149,
      444.74881
    ],
    "rotation_matrix": [
      [
        0.9987352194633412,
        -0.05027878609774987,
        7.121831598987105e-05
      ],
      [
        -6.292669682956414e-05,
        0.00016649579560845673,
        0.9999999841596904
      ],
      [
        -0.05027879715886851,
        -0.9987352081245994,
        0.00016312133703699772
      ]
    ],
    "position_light": [
      376.602936,
      190.115906,
      448.72934
    ],
    "rotation_matrix_light": [
      [
        0.5084453463984292,
        0.37373151921600994,
        0.7757629027417299
      ],
      [
        0.6250674577439688,
        0.4594548449410864,
        -0.6310244993101726
      ],
      [
        -0.5922617689799614,
        0.8057456155665108,
        2.671953646671277e-07
      ]
    ],
    "servo_angle": [
      [
        91.0293,
        -23.869364,
        -65.744787,
        224.689181,
        0.722901,
        -131.513409,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -54.803413,
        -32.058994,
        -53.886451,
        -256.599722,
        16.422517,
        129.833841,
        0.0
      ]
    ],
    "turn_angle": 1249.5251560421318,
    "filename": "scan-0381_light-38_camera-381.png"
  },
  {
    "id": 382,
    "scan_id": "0382",
    "camera_id": 382,
    "light_id": 38,
    "position": [
      199.462906,
      -136.381149,
      443.232758
    ],
    "rotation_matrix": [
      [
        0.9927539427730097,
        -0.1201648965365021,
        8.215239295459448e-05
      ],
      [
        -6.254983820115634e-05,
        0.00016690226292120913,
        0.9999999841155761
      ],
      [
        -0.12016490833917223,
        -0.9927539321423041,
        0.00015817658473699092
      ]
    ],
    "position_light": [
      376.602936,
      190.115906,
      448.72934
    ],
    "rotation_matrix_light": [
      [
        0.5084453463984292,
        0.37373151921600994,
        0.7757629027417299
      ],
      [
        0.6250674577439688,
        0.4594548449410864,
        -0.6310244993101726
      ],
      [
        -0.5922617689799614,
        0.8057456155665108,
        2.671953646671277e-07
      ]
    ],
    "servo_angle": [
      [
        89.872842,
        -23.181815,
        -68.84128,
        198.618914,
        -2.116793,
        -101.470768,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -54.803413,
        -32.058994,
        -53.886451,
        -256.599722,
        16.422517,
        129.833841,
        0.0
      ]
    ],
    "turn_angle": 1249.5251560421318,
    "filename": "scan-0382_light-38_camera-382.png"
  },
  {
    "id": 383,
    "scan_id": "0383",
    "camera_id": 383,
    "light_id": 38,
    "position": [
      225.483261,
      -136.381149,
      440.539093
    ],
    "rotation_matrix": [
      [
        0.9852822291740319,
        -0.17093542828539926,
        9.072341331430034e-05
      ],
      [
        -6.305926841415621e-05,
        0.0001672692173785295,
        0.9999999840222686
      ],
      [
        -0.17093544072947325,
        -0.9852822191524091,
        0.00015402832431710145
      ]
    ],
    "position_light": [
      376.602936,
      190.115906,
      448.72934
    ],
    "rotation_matrix_light": [
      [
        0.5084453463984292,
        0.37373151921600994,
        0.7757629027417299
      ],
      [
        0.6250674577439688,
        0.4594548449410864,
        -0.6310244993101726
      ],
      [
        -0.5922617689799614,
        0.8057456155665108,
        2.671953646671277e-07
      ]
    ],
    "servo_angle": [
      [
        90.648168,
        -23.1974,
        -68.775963,
        176.108261,
        -2.06643,
        -76.032817,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -54.803413,
        -32.058994,
        -53.886451,
        -256.599722,
        16.422517,
        129.833841,
        0.0
      ]
    ],
    "turn_angle": 1249.5251560421318,
    "filename": "scan-0383_light-38_camera-383.png"
  },
  {
    "id": 384,
    "scan_id": "0384",
    "camera_id": 384,
    "light_id": 38,
    "position": [
      253.909576,
      -136.381149,
      436.03775
    ],
    "rotation_matrix": [
      [
        0.9740649946082311,
        -0.22626837248225623,
        9.946405231454902e-05
      ],
      [
        -6.331038823199908e-05,
        0.00016703888988595095,
        0.999999984044902
      ],
      [
        -0.22626838548648703,
        -0.9740649853640363,
        0.00014838159686964003
      ]
    ],
    "position_light": [
      376.602936,
      190.115906,
      448.72934
    ],
    "rotation_matrix_light": [
      [
        0.5084453463984292,
        0.37373151921600994,
        0.7757629027417299
      ],
      [
        0.6250674577439688,
        0.4594548449410864,
        -0.6310244993101726
      ],
      [
        -0.5922617689799614,
        0.8057456155665108,
        2.671953646671277e-07
      ]
    ],
    "servo_angle": [
      [
        90.43371,
        -23.808803,
        -66.067763,
        154.534853,
        -0.040451,
        -51.178252,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -54.803413,
        -32.058994,
        -53.886451,
        -256.599722,
        16.422517,
        129.833841,
        0.0
      ]
    ],
    "turn_angle": 1249.5251560421318,
    "filename": "scan-0384_light-38_camera-384.png"
  },
  {
    "id": 385,
    "scan_id": "0385",
    "camera_id": 385,
    "light_id": 38,
    "position": [
      296.83548,
      -136.381149,
      426.053864
    ],
    "rotation_matrix": [
      [
        0.9508809202201878,
        -0.30955688196571474,
        0.00011130531792857834
      ],
      [
        -6.276608287836272e-05,
        0.0001667617440383462,
        0.9999999841254699
      ],
      [
        -0.30955689561311356,
        -0.9508809121115986,
        0.0001391408877196576
      ]
    ],
    "position_light": [
      376.602936,
      190.115906,
      448.72934
    ],
    "rotation_matrix_light": [
      [
        0.5084453463984292,
        0.37373151921600994,
        0.7757629027417299
      ],
      [
        0.6250674577439688,
        0.4594548449410864,
        -0.6310244993101726
      ],
      [
        -0.5922617689799614,
        0.8057456155665108,
        2.671953646671277e-07
      ]
    ],
    "servo_angle": [
      [
        85.914391,
        -24.614095,
        -60.967236,
        134.237193,
        6.101771,
        -25.978479,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -54.803413,
        -32.058994,
        -53.886451,
        -256.599722,
        16.422517,
        129.833841,
        0.0
      ]
    ],
    "turn_angle": 1249.5251560421318,
    "filename": "scan-0385_light-38_camera-385.png"
  },
  {
    "id": 386,
    "scan_id": "0386",
    "camera_id": 386,
    "light_id": 38,
    "position": [
      331.623779,
      -136.381149,
      415.003235
    ],
    "rotation_matrix": [
      [
        0.9262917086247803,
        -0.37680718654488154,
        0.00012124816006880978
      ],
      [
        -6.29860093193102e-05,
        0.00016694145492213153,
        0.9999999840816567
      ],
      [
        -0.37680720078807955,
        -0.9262917015166885,
        0.00013090290455686215
      ]
    ],
    "position_light": [
      376.602936,
      190.115906,
      448.72934
    ],
    "rotation_matrix_light": [
      [
        0.5084453463984292,
        0.37373151921600994,
        0.7757629027417299
      ],
      [
        0.6250674577439688,
        0.4594548449410864,
        -0.6310244993101726
      ],
      [
        -0.5922617689799614,
        0.8057456155665108,
        2.671953646671277e-07
      ]
    ],
    "servo_angle": [
      [
        80.080879,
        -24.344633,
        -58.03478,
        126.280185,
        12.595102,
        -14.312085,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -54.803413,
        -32.058994,
        -53.886451,
        -256.599722,
        16.422517,
        129.833841,
        0.0
      ]
    ],
    "turn_angle": 1249.5251560421318,
    "filename": "scan-0386_light-38_camera-386.png"
  },
  {
    "id": 387,
    "scan_id": "0387",
    "camera_id": 387,
    "light_id": 38,
    "position": [
      354.038208,
      -136.381149,
      406.388367
    ],
    "rotation_matrix": [
      [
        0.9075191943743987,
        -0.420010589972345,
        0.0001270949458044568
      ],
      [
        -6.261234966248308e-05,
        0.00016731253051849304,
        0.9999999840431053
      ],
      [
        -0.4200106045348573,
        -0.9075191878509237,
        0.00012554148298360435
      ]
    ],
    "position_light": [
      376.602936,
      190.115906,
      448.72934
    ],
    "rotation_matrix_light": [
      [
        0.5084453463984292,
        0.37373151921600994,
        0.7757629027417299
      ],
      [
        0.6250674577439688,
        0.4594548449410864,
        -0.6310244993101726
      ],
      [
        -0.5922617689799614,
        0.8057456155665108,
        2.671953646671277e-07
      ]
    ],
    "servo_angle": [
      [
        75.989673,
        -23.635598,
        -56.741156,
        123.410296,
        17.059704,
        -9.190014,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -54.803413,
        -32.058994,
        -53.886451,
        -256.599722,
        16.422517,
        129.833841,
        0.0
      ]
    ],
    "turn_angle": 1249.5251560421318,
    "filename": "scan-0387_light-38_camera-387.png"
  },
  {
    "id": 388,
    "scan_id": "0388",
    "camera_id": 388,
    "light_id": 38,
    "position": [
      383.880554,
      -136.381149,
      392.968689
    ],
    "rotation_matrix": [
      [
        0.8787034416899013,
        -0.47736803743447487,
        0.0001356402610927232
      ],
      [
        -6.326210645937747e-05,
        0.00016769373305752788,
        0.9999999839383589
      ],
      [
        -0.4773680525131824,
        -0.8787034361573705,
        0.00011715375278292806
      ]
    ],
    "position_light": [
      376.602936,
      190.115906,
      448.72934
    ],
    "rotation_matrix_light": [
      [
        0.5084453463984292,
        0.37373151921600994,
        0.7757629027417299
      ],
      [
        0.6250674577439688,
        0.4594548449410864,
        -0.6310244993101726
      ],
      [
        -0.5922617689799614,
        0.8057456155665108,
        2.671953646671277e-07
      ]
    ],
    "servo_angle": [
      [
        70.519703,
        -22.031774,
        -55.594496,
        121.15565,
        23.073526,
        -4.101232,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -54.803413,
        -32.058994,
        -53.886451,
        -256.599722,
        16.422517,
        129.833841,
        0.0
      ]
    ],
    "turn_angle": 1249.5251560421318,
    "filename": "scan-0388_light-38_camera-388.png"
  },
  {
    "id": 389,
    "scan_id": "0389",
    "camera_id": 389,
    "light_id": 38,
    "position": [
      412.725739,
      -136.381149,
      377.704773
    ],
    "rotation_matrix": [
      [
        0.8463577877950396,
        -0.5326147528252244,
        0.0001418154136728078
      ],
      [
        -6.263213551327418e-05,
        0.00016673630479513424,
        0.9999999841381099
      ],
      [
        -0.5326147680227258,
        -0.8463577832524077,
        0.00010775977069621412
      ]
    ],
    "position_light": [
      376.602936,
      190.115906,
      448.72934
    ],
    "rotation_matrix_light": [
      [
        0.5084453463984292,
        0.37373151921600994,
        0.7757629027417299
      ],
      [
        0.6250674577439688,
        0.4594548449410864,
        -0.6310244993101726
      ],
      [
        -0.5922617689799614,
        0.8057456155665108,
        2.671953646671277e-07
      ]
    ],
    "servo_angle": [
      [
        65.411841,
        -19.771513,
        -55.007902,
        120.004234,
        28.798864,
        -0.386288,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -54.803413,
        -32.058994,
        -53.886451,
        -256.599722,
        16.422517,
        129.833841,
        0.0
      ]
    ],
    "turn_angle": 1249.5251560421318,
    "filename": "scan-0389_light-38_camera-389.png"
  },
  {
    "id": 390,
    "scan_id": "0390",
    "camera_id": 390,
    "light_id": 39,
    "position": [
      458.906525,
      -136.381149,
      347.931824
    ],
    "rotation_matrix": [
      [
        0.784115306058768,
        -0.6206151492280039,
        0.0001528171036909165
      ],
      [
        -6.273384534061233e-05,
        0.00016697390169945203,
        0.9999999840920903
      ],
      [
        -0.6206151648717821,
        -0.784115303171937,
        9.199321724712162e-05
      ]
    ],
    "position_light": [
      282.604736,
      190.820114,
      421.703033
    ],
    "rotation_matrix_light": [
      [
        0.3669382317610943,
        0.2502650152297634,
        0.8959485231999034
      ],
      [
        0.7401818349979912,
        0.5048312662297864,
        -0.4441579041014999
      ],
      [
        -0.5634600120780959,
        0.8261433379195627,
        2.739595055811783e-07
      ]
    ],
    "servo_angle": [
      [
        57.875957,
        -14.712582,
        -55.00137,
        119.282307,
        37.54856,
        4.105873,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -84.56943,
        -40.232982,
        -42.95837,
        -265.272068,
        58.69838,
        137.677289,
        0.0
      ]
    ],
    "turn_angle": 1297.2887268304328,
    "filename": "scan-0390_light-39_camera-390.png"
  },
  {
    "id": 391,
    "scan_id": "0391",
    "camera_id": 391,
    "light_id": 39,
    "position": [
      481.464813,
      -136.381149,
      330.62381
    ],
    "rotation_matrix": [
      [
        0.7482924896210617,
        -0.6633689207804221,
        0.00015785857988448448
      ],
      [
        -6.285858734494942e-05,
        0.00016705933166272224,
        0.9999999840699886
      ],
      [
        -0.6633689365846965,
        -0.7482924876235212,
        8.331080995549467e-05
      ]
    ],
    "position_light": [
      282.604736,
      190.820114,
      421.703033
    ],
    "rotation_matrix_light": [
      [
        0.3669382317610943,
        0.2502650152297634,
        0.8959485231999034
      ],
      [
        0.7401818349979912,
        0.5048312662297864,
        -0.4441579041014999
      ],
      [
        -0.5634600120780959,
        0.8261433379195627,
        2.739595055811783e-07
      ]
    ],
    "servo_angle": [
      [
        54.531144,
        -11.59065,
        -55.400149,
        119.202093,
        41.591866,
        5.903184,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -84.56943,
        -40.232982,
        -42.95837,
        -265.272068,
        58.69838,
        137.677289,
        0.0
      ]
    ],
    "turn_angle": 1297.2887268304328,
    "filename": "scan-0391_light-39_camera-391.png"
  },
  {
    "id": 392,
    "scan_id": "0392",
    "camera_id": 392,
    "light_id": 39,
    "position": [
      502.949219,
      -136.381149,
      312.152039
    ],
    "rotation_matrix": [
      [
        0.7102795860411667,
        -0.7039196568295011,
        0.00016242606181876562
      ],
      [
        -6.321086211868998e-05,
        0.00016696319403941562,
        0.9999999840638388
      ],
      [
        -0.7039196727308983,
        -0.7102795849891285,
        7.40951799759193e-05
      ]
    ],
    "position_light": [
      282.604736,
      190.820114,
      421.703033
    ],
    "rotation_matrix_light": [
      [
        0.3669382317610943,
        0.2502650152297634,
        0.8959485231999034
      ],
      [
        0.7401818349979912,
        0.5048312662297864,
        -0.4441579041014999
      ],
      [
        -0.5634600120780959,
        0.8261433379195627,
        2.739595055811783e-07
      ]
    ],
    "servo_angle": [
      [
        51.557149,
        -8.204412,
        -56.034126,
        119.215328,
        45.296897,
        7.473031,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -84.56943,
        -40.232982,
        -42.95837,
        -265.272068,
        58.69838,
        137.677289,
        0.0
      ]
    ],
    "turn_angle": 1297.2887268304328,
    "filename": "scan-0392_light-39_camera-392.png"
  },
  {
    "id": 393,
    "scan_id": "0393",
    "camera_id": 393,
    "light_id": 39,
    "position": [
      523.746704,
      -136.381149,
      292.136047
    ],
    "rotation_matrix": [
      [
        0.6692985649727395,
        -0.7429935418736853,
        0.00016631123795035618
      ],
      [
        -6.29163633376062e-05,
        0.00016716350358725318,
        0.999999984048947
      ],
      [
        -0.7429935578233251,
        -0.6692985647604209,
        6.513584142875395e-05
      ]
    ],
    "position_light": [
      282.604736,
      190.820114,
      421.703033
    ],
    "rotation_matrix_light": [
      [
        0.3669382317610943,
        0.2502650152297634,
        0.8959485231999034
      ],
      [
        0.7401818349979912,
        0.5048312662297864,
        -0.4441579041014999
      ],
      [
        -0.5634600120780959,
        0.8261433379195627,
        2.739595055811783e-07
      ]
    ],
    "servo_angle": [
      [
        48.870607,
        -4.519033,
        -56.901126,
        119.280474,
        48.754125,
        8.915567,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -84.56943,
        -40.232982,
        -42.95837,
        -265.272068,
        58.69838,
        137.677289,
        0.0
      ]
    ],
    "turn_angle": 1297.2887268304328,
    "filename": "scan-0393_light-39_camera-393.png"
  },
  {
    "id": 394,
    "scan_id": "0394",
    "camera_id": 394,
    "light_id": 39,
    "position": [
      551.860352,
      -136.381149,
      261.04184
    ],
    "rotation_matrix": [
      [
        0.6059880082465147,
        -0.7954737610943983,
        0.00017108990080033637
      ],
      [
        -6.30252801314124e-05,
        0.0001670668984908863,
        0.9999999840582326
      ],
      [
        -0.7954737769965998,
        -0.6059880093689837,
        5.110558043019964e-05
      ]
    ],
    "position_light": [
      282.604736,
      190.820114,
      421.703033
    ],
    "rotation_matrix_light": [
      [
        0.3669382317610943,
        0.2502650152297634,
        0.8959485231999034
      ],
      [
        0.7401818349979912,
        0.5048312662297864,
        -0.4441579041014999
      ],
      [
        -0.5634600120780959,
        0.8261433379195627,
        2.739595055811783e-07
      ]
    ],
    "servo_angle": [
      [
        45.525106,
        1.172214,
        -58.520992,
        119.416494,
        53.247604,
        10.834861,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -84.56943,
        -40.232982,
        -42.95837,
        -265.272068,
        58.69838,
        137.677289,
        0.0
      ]
    ],
    "turn_angle": 1297.2887268304328,
    "filename": "scan-0394_light-39_camera-394.png"
  },
  {
    "id": 395,
    "scan_id": "0395",
    "camera_id": 395,
    "light_id": 39,
    "position": [
      575.585266,
      -136.381149,
      230.206223
    ],
    "rotation_matrix": [
      [
        0.543554738521508,
        -0.8393737043768086,
        0.00017501876660491744
      ],
      [
        -6.30494050193886e-05,
        0.00016768211846923675,
        0.9999999839537397
      ],
      [
        -0.8393737202555172,
        -0.5435547408343164,
        3.8222397409415354e-05
      ]
    ],
    "position_light": [
      282.604736,
      190.820114,
      421.703033
    ],
    "rotation_matrix_light": [
      [
        0.3669382317610943,
        0.2502650152297634,
        0.8959485231999034
      ],
      [
        0.7401818349979912,
        0.5048312662297864,
        -0.4441579041014999
      ],
      [
        -0.5634600120780959,
        0.8261433379195627,
        2.739595055811783e-07
      ]
    ],
    "servo_angle": [
      [
        42.939634,
        6.728473,
        -60.369641,
        119.557327,
        56.912184,
        12.519586,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -84.56943,
        -40.232982,
        -42.95837,
        -265.272068,
        58.69838,
        137.677289,
        0.0
      ]
    ],
    "turn_angle": 1297.2887268304328,
    "filename": "scan-0395_light-39_camera-395.png"
  },
  {
    "id": 396,
    "scan_id": "0396",
    "camera_id": 396,
    "light_id": 39,
    "position": [
      587.322205,
      -136.381149,
      212.945251
    ],
    "rotation_matrix": [
      [
        0.5087363122314466,
        -0.8609223737735785,
        0.000175935257496318
      ],
      [
        -6.308617401923344e-05,
        0.00016707781276115163,
        0.9999999840525693
      ],
      [
        -0.8609223894389566,
        -0.5087363152174917,
        3.06862516309403e-05
      ]
    ],
    "position_light": [
      282.604736,
      190.820114,
      421.703033
    ],
    "rotation_matrix_light": [
      [
        0.3669382317610943,
        0.2502650152297634,
        0.8959485231999034
      ],
      [
        0.7401818349979912,
        0.5048312662297864,
        -0.4441579041014999
      ],
      [
        -0.5634600120780959,
        0.8261433379195627,
        2.739595055811783e-07
      ]
    ],
    "servo_angle": [
      [
        41.734761,
        9.791734,
        -61.48645,
        119.63439,
        58.696833,
        13.409791,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -84.56943,
        -40.232982,
        -42.95837,
        -265.272068,
        58.69838,
        137.677289,
        0.0
      ]
    ],
    "turn_angle": 1297.2887268304328,
    "filename": "scan-0396_light-39_camera-396.png"
  },
  {
    "id": 397,
    "scan_id": "0397",
    "camera_id": 397,
    "light_id": 39,
    "position": [
      601.043823,
      -136.381149,
      190.613297
    ],
    "rotation_matrix": [
      [
        0.4638121226223909,
        -0.8859335659344565,
        0.0001779302403067673
      ],
      [
        -6.307661947302368e-05,
        0.00016781680071564775,
        0.9999999839294307
      ],
      [
        -0.8859335815566833,
        -0.463812126391904,
        2.1953772134764016e-05
      ]
    ],
    "position_light": [
      282.604736,
      190.820114,
      421.703033
    ],
    "rotation_matrix_light": [
      [
        0.3669382317610943,
        0.2502650152297634,
        0.8959485231999034
      ],
      [
        0.7401818349979912,
        0.5048312662297864,
        -0.4441579041014999
      ],
      [
        -0.5634600120780959,
        0.8261433379195627,
        2.739595055811783e-07
      ]
    ],
    "servo_angle": [
      [
        40.383612,
        13.702458,
        -63.003872,
        119.732366,
        60.774435,
        14.529866,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -84.56943,
        -40.232982,
        -42.95837,
        -265.272068,
        58.69838,
        137.677289,
        0.0
      ]
    ],
    "turn_angle": 1297.2887268304328,
    "filename": "scan-0397_light-39_camera-397.png"
  },
  {
    "id": 398,
    "scan_id": "0398",
    "camera_id": 398,
    "light_id": 39,
    "position": [
      622.098572,
      -136.381149,
      150.227142
    ],
    "rotation_matrix": [
      [
        0.3828859769966589,
        -0.9237955925834511,
        0.00017816482428695268
      ],
      [
        -6.27965897082583e-05,
        0.0001668344048088577,
        0.9999999841114348
      ],
      [
        -0.9237956076296869,
        -0.38288598210129343,
        5.867341280108018e-06
      ]
    ],
    "position_light": [
      282.604736,
      190.820114,
      421.703033
    ],
    "rotation_matrix_light": [
      [
        0.3669382317610943,
        0.2502650152297634,
        0.8959485231999034
      ],
      [
        0.7401818349979912,
        0.5048312662297864,
        -0.4441579041014999
      ],
      [
        -0.5634600120780959,
        0.8261433379195627,
        2.739595055811783e-07
      ]
    ],
    "servo_angle": [
      [
        38.419857,
        20.627397,
        -65.92418,
        119.910785,
        63.993255,
        16.516425,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -84.56943,
        -40.232982,
        -42.95837,
        -265.272068,
        58.69838,
        137.677289,
        0.0
      ]
    ],
    "turn_angle": 1297.2887268304328,
    "filename": "scan-0398_light-39_camera-398.png"
  },
  {
    "id": 399,
    "scan_id": "0399",
    "camera_id": 399,
    "light_id": 39,
    "position": [
      634.563477,
      -136.381149,
      121.138039
    ],
    "rotation_matrix": [
      [
        0.32482464712536613,
        -0.9457742418346629,
        0.00017917017186319661
      ],
      [
        -6.301382106627118e-05,
        0.0001678008553979149,
        0.9999999839360657
      ],
      [
        -0.9457742567067154,
        -0.32482465319760145,
        -5.09099520207279e-06
      ]
    ],
    "position_light": [
      282.604736,
      190.820114,
      421.703033
    ],
    "rotation_matrix_light": [
      [
        0.3669382317610943,
        0.2502650152297634,
        0.8959485231999034
      ],
      [
        0.7401818349979912,
        0.5048312662297864,
        -0.4441579041014999
      ],
      [
        -0.5634600120780959,
        0.8261433379195627,
        2.739595055811783e-07
      ]
    ],
    "servo_angle": [
      [
        37.311241,
        25.505847,
        -68.148402,
        120.047149,
        65.96761,
        17.948018,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -84.56943,
        -40.232982,
        -42.95837,
        -265.272068,
        58.69838,
        137.677289,
        0.0
      ]
    ],
    "turn_angle": 1297.2887268304328,
    "filename": "scan-0399_light-39_camera-399.png"
  },
  {
    "id": 400,
    "scan_id": "0400",
    "camera_id": 400,
    "light_id": 40,
    "position": [
      638.930176,
      -136.381149,
      109.59594
    ],
    "rotation_matrix": [
      [
        0.30183546164058783,
        -0.9533600172445382,
        0.00017780806151401762
      ],
      [
        -6.278429431089139e-05,
        0.0001666291111065421,
        0.9999999841464358
      ],
      [
        -0.9533600317583832,
        -0.3018354680189737,
        -9.5614612334316e-06
      ]
    ],
    "position_light": [
      370.250122,
      196.263107,
      362.836975
    ],
    "rotation_matrix_light": [
      [
        0.4591470703470232,
        0.40607009861229365,
        0.7901209039158171
      ],
      [
        0.5918605562078167,
        0.5234425706896444,
        -0.6129510234881662
      ],
      [
        -0.6624839996536668,
        0.7490760643638393,
        2.484030297011941e-07
      ]
    ],
    "servo_angle": [
      [
        36.930568,
        27.418494,
        -69.056254,
        120.104674,
        66.684667,
        18.520861,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.196412,
        -34.293529,
        -42.286004,
        -238.430714,
        24.469652,
        104.731929,
        0.0
      ]
    ],
    "turn_angle": 1332.0712627271987,
    "filename": "scan-0400_light-40_camera-400.png"
  },
  {
    "id": 401,
    "scan_id": "0401",
    "camera_id": 401,
    "light_id": 40,
    "position": [
      617.079468,
      -136.381149,
      160.690353
    ],
    "rotation_matrix": [
      [
        0.40381515097291487,
        -0.9148405828720645,
        0.0001782554985021445
      ],
      [
        -6.299416605104469e-05,
        0.00016704276116319416,
        0.9999999840642251
      ],
      [
        -0.9148405980696618,
        -0.4038151557668641,
        9.824778230416165e-06
      ]
    ],
    "position_light": [
      370.250122,
      196.263107,
      362.836975
    ],
    "rotation_matrix_light": [
      [
        0.4591470703470232,
        0.40607009861229365,
        0.7901209039158171
      ],
      [
        0.5918605562078167,
        0.5234425706896444,
        -0.6129510234881662
      ],
      [
        -0.6624839996536668,
        0.7490760643638393,
        2.484030297011941e-07
      ]
    ],
    "servo_angle": [
      [
        38.876905,
        18.850942,
        -65.147822,
        119.863802,
        63.217585,
        16.003399,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.196412,
        -34.293529,
        -42.286004,
        -238.430714,
        24.469652,
        104.731929,
        0.0
      ]
    ],
    "turn_angle": 1332.0712627271987,
    "filename": "scan-0401_light-40_camera-401.png"
  },
  {
    "id": 402,
    "scan_id": "0402",
    "camera_id": 402,
    "light_id": 40,
    "position": [
      599.054749,
      -136.381149,
      194.015045
    ],
    "rotation_matrix": [
      [
        0.47064645829521734,
        -0.8823218685825435,
        0.0001775251454022575
      ],
      [
        -6.306962849844666e-05,
        0.0001675597653674754,
        0.9999999839729734
      ],
      [
        -0.8823218841876191,
        -0.470646461948599,
        2.3213697655399823e-05
      ]
    ],
    "position_light": [
      370.250122,
      196.263107,
      362.836975
    ],
    "rotation_matrix_light": [
      [
        0.4591470703470232,
        0.40607009861229365,
        0.7901209039158171
      ],
      [
        0.5918605562078167,
        0.5234425706896444,
        -0.6129510234881662
      ],
      [
        -0.6624839996536668,
        0.7490760643638393,
        2.484030297011941e-07
      ]
    ],
    "servo_angle": [
      [
        40.57584,
        13.110592,
        -62.76787,
        119.717526,
        60.473232,
        14.360843,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.196412,
        -34.293529,
        -42.286004,
        -238.430714,
        24.469652,
        104.731929,
        0.0
      ]
    ],
    "turn_angle": 1332.0712627271987,
    "filename": "scan-0402_light-40_camera-402.png"
  },
  {
    "id": 403,
    "scan_id": "0403",
    "camera_id": 403,
    "light_id": 40,
    "position": [
      580.305664,
      -136.381149,
      223.445831
    ],
    "rotation_matrix": [
      [
        0.5299073602391201,
        -0.8480555163754,
        0.00017524172026600615
      ],
      [
        -6.305714713833455e-05,
        0.0001672381917741106,
        0.9999999840275913
      ],
      [
        -0.8480555321370193,
        -0.5299073628254662,
        3.51447872565247e-05
      ]
    ],
    "position_light": [
      370.250122,
      196.263107,
      362.836975
    ],
    "rotation_matrix_light": [
      [
        0.4591470703470232,
        0.40607009861229365,
        0.7901209039158171
      ],
      [
        0.5918605562078167,
        0.5234425706896444,
        -0.6129510234881662
      ],
      [
        -0.6624839996536668,
        0.7490760643638393,
        2.484030297011941e-07
      ]
    ],
    "servo_angle": [
      [
        42.449412,
        7.932429,
        -60.800734,
        119.587636,
        57.631475,
        12.871554,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.196412,
        -34.293529,
        -42.286004,
        -238.430714,
        24.469652,
        104.731929,
        0.0
      ]
    ],
    "turn_angle": 1332.0712627271987,
    "filename": "scan-0403_light-40_camera-403.png"
  },
  {
    "id": 404,
    "scan_id": "0404",
    "camera_id": 404,
    "light_id": 40,
    "position": [
      565.246216,
      -136.381149,
      244.246384
    ],
    "rotation_matrix": [
      [
        0.571943619447778,
        -0.820292914814252,
        0.00017343158100724398
      ],
      [
        -6.291843271100106e-05,
        0.00016755695387887792,
        0.9999999839829687
      ],
      [
        -0.8202929307352623,
        -0.5719436211989826,
        4.4221586101123034e-05
      ]
    ],
    "position_light": [
      370.250122,
      196.263107,
      362.836975
    ],
    "rotation_matrix_light": [
      [
        0.4591470703470232,
        0.40607009861229365,
        0.7901209039158171
      ],
      [
        0.5918605562078167,
        0.5234425706896444,
        -0.6129510234881662
      ],
      [
        -0.6624839996536668,
        0.7490760643638393,
        2.484030297011941e-07
      ]
    ],
    "servo_angle": [
      [
        44.040917,
        4.211354,
        -59.502526,
        119.493557,
        55.326695,
        11.771189,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.196412,
        -34.293529,
        -42.286004,
        -238.430714,
        24.469652,
        104.731929,
        0.0
      ]
    ],
    "turn_angle": 1332.0712627271987,
    "filename": "scan-0404_light-40_camera-404.png"
  },
  {
    "id": 405,
    "scan_id": "0405",
    "camera_id": 405,
    "light_id": 40,
    "position": [
      553.750671,
      -136.381149,
      258.7565
    ],
    "rotation_matrix": [
      [
        0.601349709672486,
        -0.7989859180485108,
        0.00017157212756274687
      ],
      [
        -6.314112308841713e-05,
        0.00016721474780279078,
        0.9999999840262132
      ],
      [
        -0.7989859339750702,
        -0.6013497108999107,
        5.010567184682291e-05
      ]
    ],
    "position_light": [
      370.250122,
      196.263107,
      362.836975
    ],
    "rotation_matrix_light": [
      [
        0.4591470703470232,
        0.40607009861229365,
        0.7901209039158171
      ],
      [
        0.5918605562078167,
        0.5234425706896444,
        -0.6129510234881662
      ],
      [
        -0.6624839996536668,
        0.7490760643638393,
        2.484030297011941e-07
      ]
    ],
    "servo_angle": [
      [
        45.311393,
        1.587437,
        -58.650653,
        119.426979,
        53.543307,
        10.965438,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.196412,
        -34.293529,
        -42.286004,
        -238.430714,
        24.469652,
        104.731929,
        0.0
      ]
    ],
    "turn_angle": 1332.0712627271987,
    "filename": "scan-0405_light-40_camera-405.png"
  },
  {
    "id": 406,
    "scan_id": "0406",
    "camera_id": 406,
    "light_id": 40,
    "position": [
      530.939148,
      -136.381149,
      284.65976
    ],
    "rotation_matrix": [
      [
        0.6540395917420476,
        -0.7564602993063099,
        0.00016735382653659814
      ],
      [
        -6.278329392156445e-05,
        0.00016695002244743185,
        0.9999999840929737
      ],
      [
        -0.7564603152130014,
        -0.6540395918452474,
        6.169885521151164e-05
      ]
    ],
    "position_light": [
      370.250122,
      196.263107,
      362.836975
    ],
    "rotation_matrix_light": [
      [
        0.4591470703470232,
        0.40607009861229365,
        0.7901209039158171
      ],
      [
        0.5918605562078167,
        0.5234425706896444,
        -0.6129510234881662
      ],
      [
        -0.6624839996536668,
        0.7490760643638393,
        2.484030297011941e-07
      ]
    ],
    "servo_angle": [
      [
        47.984184,
        -3.144851,
        -57.263637,
        119.31107,
        49.922156,
        9.405962,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.196412,
        -34.293529,
        -42.286004,
        -238.430714,
        24.469652,
        104.731929,
        0.0
      ]
    ],
    "turn_angle": 1332.0712627271987,
    "filename": "scan-0406_light-40_camera-406.png"
  },
  {
    "id": 407,
    "scan_id": "0407",
    "camera_id": 407,
    "light_id": 40,
    "position": [
      509.794312,
      -136.381149,
      305.812286
    ],
    "rotation_matrix": [
      [
        0.6972775033150432,
        -0.716801267218172,
        0.00016335593902294665
      ],
      [
        -6.27595980866591e-05,
        0.00016684552055645785,
        0.9999999841119025
      ],
      [
        -0.7168012830847702,
        -0.6972775024887834,
        7.135146857428776e-05
      ]
    ],
    "position_light": [
      370.250122,
      196.263107,
      362.836975
    ],
    "rotation_matrix_light": [
      [
        0.4591470703470232,
        0.40607009861229365,
        0.7901209039158171
      ],
      [
        0.5918605562078167,
        0.5234425706896444,
        -0.6129510234881662
      ],
      [
        -0.6624839996536668,
        0.7490760643638393,
        2.484030297011941e-07
      ]
    ],
    "servo_angle": [
      [
        50.652391,
        -7.037182,
        -56.290812,
        119.232231,
        46.448313,
        7.953743,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.196412,
        -34.293529,
        -42.286004,
        -238.430714,
        24.469652,
        104.731929,
        0.0
      ]
    ],
    "turn_angle": 1332.0712627271987,
    "filename": "scan-0407_light-40_camera-407.png"
  },
  {
    "id": 408,
    "scan_id": "0408",
    "camera_id": 408,
    "light_id": 40,
    "position": [
      470.967255,
      -136.381149,
      338.927185
    ],
    "rotation_matrix": [
      [
        0.7654506304803661,
        -0.6434946061145526,
        0.00015555927137383962
      ],
      [
        -6.27635595607523e-05,
        0.00016708277215921052,
        0.9999999840720413
      ],
      [
        -0.6434946218562714,
        -0.7654506280517537,
        8.750560125375673e-05
      ]
    ],
    "position_light": [
      370.250122,
      196.263107,
      362.836975
    ],
    "rotation_matrix_light": [
      [
        0.4591470703470232,
        0.40607009861229365,
        0.7901209039158171
      ],
      [
        0.5918605562078167,
        0.5234425706896444,
        -0.6129510234881662
      ],
      [
        -0.6624839996536668,
        0.7490760643638393,
        2.484030297011941e-07
      ]
    ],
    "servo_angle": [
      [
        56.059279,
        -13.097529,
        -55.181393,
        119.224668,
        39.729982,
        5.089928,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.196412,
        -34.293529,
        -42.286004,
        -238.430714,
        24.469652,
        104.731929,
        0.0
      ]
    ],
    "turn_angle": 1332.0712627271987,
    "filename": "scan-0408_light-40_camera-408.png"
  },
  {
    "id": 409,
    "scan_id": "0409",
    "camera_id": 409,
    "light_id": 40,
    "position": [
      440.105621,
      -136.381149,
      360.909241
    ],
    "rotation_matrix": [
      [
        0.8111333472693769,
        -0.5848612406012041,
        0.00014896307311834667
      ],
      [
        -6.326739887480004e-05,
        0.00016695374379988026,
        0.9999999840618419
      ],
      [
        -0.5848612561495359,
        -0.8111333437659114,
        9.84190996519696e-05
      ]
    ],
    "position_light": [
      370.250122,
      196.263107,
      362.836975
    ],
    "rotation_matrix_light": [
      [
        0.4591470703470232,
        0.40607009861229365,
        0.7901209039158171
      ],
      [
        0.5918605562078167,
        0.5234425706896444,
        -0.6129510234881662
      ],
      [
        -0.6624839996536668,
        0.7490760643638393,
        2.484030297011941e-07
      ]
    ],
    "servo_angle": [
      [
        60.836143,
        -16.986193,
        -54.870506,
        119.461185,
        34.059476,
        2.43805,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.196412,
        -34.293529,
        -42.286004,
        -238.430714,
        24.469652,
        104.731929,
        0.0
      ]
    ],
    "turn_angle": 1332.0712627271987,
    "filename": "scan-0409_light-40_camera-409.png"
  },
  {
    "id": 410,
    "scan_id": "0410",
    "camera_id": 410,
    "light_id": 41,
    "position": [
      415.074127,
      -136.381149,
      376.355896
    ],
    "rotation_matrix": [
      [
        0.8435160778056344,
        -0.5371039060787515,
        0.00014338181828815744
      ],
      [
        -6.326100498027509e-05,
        0.00016760284214956123,
        0.9999999839536657
      ],
      [
        -0.5371039214914031,
        -0.8435160733407718,
        0.00010739795916170358
      ]
    ],
    "position_light": [
      -3.336996,
      208.421677,
      235.984192
    ],
    "rotation_matrix_light": [
      [
        0.3112529020483117,
        -0.36905455329278536,
        -0.8757398972642315
      ],
      [
        -0.564593823411701,
        0.6694431881987966,
        -0.48278321464150714
      ],
      [
        0.76443145247423,
        0.6447050135279646,
        2.1379227843620896e-07
      ]
    ],
    "servo_angle": [
      [
        65.007906,
        -19.556998,
        -54.980572,
        119.940578,
        29.257631,
        -0.121295,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -124.63952,
        -23.256414,
        -33.479586,
        -137.839322,
        41.480483,
        106.199045,
        0.0
      ]
    ],
    "turn_angle": 1347.868219139132,
    "filename": "scan-0410_light-41_camera-410.png"
  },
  {
    "id": 411,
    "scan_id": "0411",
    "camera_id": 411,
    "light_id": 41,
    "position": [
      386.169159,
      -136.381149,
      391.842804
    ],
    "rotation_matrix": [
      [
        0.8763041805292603,
        -0.48175820154915905,
        0.00013574631158025374
      ],
      [
        -6.308937205579124e-05,
        0.00016701496451676512,
        0.999999984062866
      ],
      [
        -0.48175821654297957,
        -0.8763041751276329,
        0.00011596208919850692
      ]
    ],
    "position_light": [
      -3.336996,
      208.421677,
      235.984192
    ],
    "rotation_matrix_light": [
      [
        0.3112529020483117,
        -0.36905455329278536,
        -0.8757398972642315
      ],
      [
        -0.564593823411701,
        0.6694431881987966,
        -0.48278321464150714
      ],
      [
        0.76443145247423,
        0.6447050135279646,
        2.1379227843620896e-07
      ]
    ],
    "servo_angle": [
      [
        70.105855,
        -21.87782,
        -55.530325,
        121.034527,
        23.532694,
        -3.770521,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -124.63952,
        -23.256414,
        -33.479586,
        -137.839322,
        41.480483,
        106.199045,
        0.0
      ]
    ],
    "turn_angle": 1347.868219139132,
    "filename": "scan-0411_light-41_camera-411.png"
  },
  {
    "id": 412,
    "scan_id": "0412",
    "camera_id": 412,
    "light_id": 41,
    "position": [
      347.877716,
      -136.381149,
      408.877411
    ],
    "rotation_matrix": [
      [
        0.9129163702951273,
        -0.4081466464476745,
        0.00012585978925822028
      ],
      [
        -6.298471629442859e-05,
        0.00016748884072587122,
        0.9999999839902066
      ],
      [
        -0.4081466609934413,
        -0.9129163636067682,
        0.00012719630380736424
      ]
    ],
    "position_light": [
      -3.336996,
      208.421677,
      235.984192
    ],
    "rotation_matrix_light": [
      [
        0.3112529020483117,
        -0.36905455329278536,
        -0.8757398972642315
      ],
      [
        -0.564593823411701,
        0.6694431881987966,
        -0.48278321464150714
      ],
      [
        0.76443145247423,
        0.6447050135279646,
        2.1379227843620896e-07
      ]
    ],
    "servo_angle": [
      [
        77.122984,
        -23.872917,
        -57.056169,
        124.074698,
        15.822516,
        -10.462782,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -124.63952,
        -23.256414,
        -33.479586,
        -137.839322,
        41.480483,
        106.199045,
        0.0
      ]
    ],
    "turn_angle": 1347.868219139132,
    "filename": "scan-0412_light-41_camera-412.png"
  },
  {
    "id": 413,
    "scan_id": "0413",
    "camera_id": 413,
    "light_id": 41,
    "position": [
      326.958893,
      -136.381149,
      416.64566
    ],
    "rotation_matrix": [
      [
        0.9299038419314176,
        -0.36780270564197004,
        0.00012034797640989026
      ],
      [
        -6.32316272601019e-05,
        0.00016734145893809727,
        0.9999999839992986
      ],
      [
        -0.3678027198960747,
        -0.9299038346621022,
        0.00013235470199252086
      ]
    ],
    "position_light": [
      -3.336996,
      208.421677,
      235.984192
    ],
    "rotation_matrix_light": [
      [
        0.3112529020483117,
        -0.36905455329278536,
        -0.8757398972642315
      ],
      [
        -0.564593823411701,
        0.6694431881987966,
        -0.48278321464150714
      ],
      [
        0.76443145247423,
        0.6447050135279646,
        2.1379227843620896e-07
      ]
    ],
    "servo_angle": [
      [
        80.913787,
        -24.43877,
        -58.358272,
        127.057459,
        11.683927,
        -15.571503,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -124.63952,
        -23.256414,
        -33.479586,
        -137.839322,
        41.480483,
        106.199045,
        0.0
      ]
    ],
    "turn_angle": 1347.868219139132,
    "filename": "scan-0413_light-41_camera-413.png"
  },
  {
    "id": 414,
    "scan_id": "0414",
    "camera_id": 414,
    "light_id": 41,
    "position": [
      295.74881,
      -136.381149,
      426.355347
    ],
    "rotation_matrix": [
      [
        0.9515633317926364,
        -0.3074527821751959,
        0.00011099742836115367
      ],
      [
        -6.28111277419241e-05,
        0.00016662285587792924,
        0.9999999841457932
      ],
      [
        -0.30745279579548435,
        -0.9515633236782279,
        0.00013924074391619135
      ]
    ],
    "position_light": [
      -3.336996,
      208.421677,
      235.984192
    ],
    "rotation_matrix_light": [
      [
        0.3112529020483117,
        -0.36905455329278536,
        -0.8757398972642315
      ],
      [
        -0.564593823411701,
        0.6694431881987966,
        -0.48278321464150714
      ],
      [
        0.76443145247423,
        0.6447050135279646,
        2.1379227843620896e-07
      ]
    ],
    "servo_angle": [
      [
        86.076366,
        -24.60699,
        -61.079134,
        134.583317,
        5.914128,
        -26.444695,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -124.63952,
        -23.256414,
        -33.479586,
        -137.839322,
        41.480483,
        106.199045,
        0.0
      ]
    ],
    "turn_angle": 1347.868219139132,
    "filename": "scan-0414_light-41_camera-414.png"
  },
  {
    "id": 415,
    "scan_id": "0415",
    "camera_id": 415,
    "light_id": 41,
    "position": [
      274.701447,
      -136.381149,
      431.69043
    ],
    "rotation_matrix": [
      [
        0.9637930293418868,
        -0.26665143090889,
        0.00010481521937133476
      ],
      [
        -6.264275094652882e-05,
        0.0001666616633462792,
        0.9999999841498878
      ],
      [
        -0.2666514441511137,
        -0.9637930206315729,
        0.00014392357021569824
      ]
    ],
    "position_light": [
      -3.336996,
      208.421677,
      235.984192
    ],
    "rotation_matrix_light": [
      [
        0.3112529020483117,
        -0.36905455329278536,
        -0.8757398972642315
      ],
      [
        -0.564593823411701,
        0.6694431881987966,
        -0.48278321464150714
      ],
      [
        0.76443145247423,
        0.6447050135279646,
        2.1379227843620896e-07
      ]
    ],
    "servo_angle": [
      [
        88.798431,
        -24.309969,
        -63.474041,
        142.871323,
        2.564101,
        -37.106122,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -124.63952,
        -23.256414,
        -33.479586,
        -137.839322,
        41.480483,
        106.199045,
        0.0
      ]
    ],
    "turn_angle": 1347.868219139132,
    "filename": "scan-0415_light-41_camera-415.png"
  },
  {
    "id": 416,
    "scan_id": "0416",
    "camera_id": 416,
    "light_id": 41,
    "position": [
      238.274994,
      -136.381149,
      438.71701
    ],
    "rotation_matrix": [
      [
        0.9806335025188291,
        -0.1958517930967576,
        9.422546748383276e-05
      ],
      [
        -6.276174421931957e-05,
        0.00016685676659827786,
        0.9999999841098914
      ],
      [
        -0.19585180570680816,
        -0.9806334928502107,
        0.00015133333530509274
      ]
    ],
    "position_light": [
      -3.336996,
      208.421677,
      235.984192
    ],
    "rotation_matrix_light": [
      [
        0.3112529020483117,
        -0.36905455329278536,
        -0.8757398972642315
      ],
      [
        -0.564593823411701,
        0.6694431881987966,
        -0.48278321464150714
      ],
      [
        0.76443145247423,
        0.6447050135279646,
        2.1379227843620896e-07
      ]
    ],
    "servo_angle": [
      [
        90.81467,
        -23.424234,
        -67.80056,
        165.710567,
        -1.396585,
        -64.16921,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -124.63952,
        -23.256414,
        -33.479586,
        -137.839322,
        41.480483,
        106.199045,
        0.0
      ]
    ],
    "turn_angle": 1347.868219139132,
    "filename": "scan-0416_light-41_camera-416.png"
  },
  {
    "id": 417,
    "scan_id": "0417",
    "camera_id": 417,
    "light_id": 41,
    "position": [
      182.839142,
      -136.381149,
      444.25061
    ],
    "rotation_matrix": [
      [
        0.9961495446498583,
        -0.08767028425781351,
        7.714942577925765e-05
      ],
      [
        -6.27637828039887e-05,
        0.00016684457015997411,
        0.9999999841117982
      ],
      [
        -0.08767029573685313,
        -0.9961495336650233,
        0.00016069962391268566
      ]
    ],
    "position_light": [
      -3.336996,
      208.421677,
      235.984192
    ],
    "rotation_matrix_light": [
      [
        0.3112529020483117,
        -0.36905455329278536,
        -0.8757398972642315
      ],
      [
        -0.564593823411701,
        0.6694431881987966,
        -0.48278321464150714
      ],
      [
        0.76443145247423,
        0.6447050135279646,
        2.1379227843620896e-07
      ]
    ],
    "servo_angle": [
      [
        89.909339,
        -23.462679,
        -67.633485,
        212.004468,
        -1.19857,
        -116.71431,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -124.63952,
        -23.256414,
        -33.479586,
        -137.839322,
        41.480483,
        106.199045,
        0.0
      ]
    ],
    "turn_angle": 1347.868219139132,
    "filename": "scan-0417_light-41_camera-417.png"
  },
  {
    "id": 418,
    "scan_id": "0418",
    "camera_id": 418,
    "light_id": 41,
    "position": [
      160.66301,
      -136.381149,
      444.762054
    ],
    "rotation_matrix": [
      [
        0.9990204626141517,
        -0.044250540553123045,
        7.027775734316788e-05
      ],
      [
        -6.294466896965972e-05,
        0.0001671108153044054,
        0.9999999840559721
      ],
      [
        -0.04425055159176451,
        -0.9990204511093514,
        0.00016416178838640771
      ]
    ],
    "position_light": [
      -3.336996,
      208.421677,
      235.984192
    ],
    "rotation_matrix_light": [
      [
        0.3112529020483117,
        -0.36905455329278536,
        -0.8757398972642315
      ],
      [
        -0.564593823411701,
        0.6694431881987966,
        -0.48278321464150714
      ],
      [
        0.76443145247423,
        0.6447050135279646,
        2.1379227843620896e-07
      ]
    ],
    "servo_angle": [
      [
        91.319331,
        -23.928322,
        -65.440145,
        226.412982,
        1.108788,
        -133.573192,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -124.63952,
        -23.256414,
        -33.479586,
        -137.839322,
        41.480483,
        106.199045,
        0.0
      ]
    ],
    "turn_angle": 1347.868219139132,
    "filename": "scan-0418_light-41_camera-418.png"
  },
  {
    "id": 419,
    "scan_id": "0419",
    "camera_id": 419,
    "light_id": 41,
    "position": [
      137.820938,
      -136.381149,
      444.279785
    ],
    "rotation_matrix": [
      [
        0.99999984233354,
        0.0005580097198050443,
        6.291301801889876e-05
      ],
      [
        -6.300637614637587e-05,
        0.00016728955676437174,
        0.9999999840222004
      ],
      [
        0.0005579991861983777,
        -0.9999998303196641,
        0.00016732468855873428
      ]
    ],
    "position_light": [
      -3.336996,
      208.421677,
      235.984192
    ],
    "rotation_matrix_light": [
      [
        0.3112529020483117,
        -0.36905455329278536,
        -0.8757398972642315
      ],
      [
        -0.564593823411701,
        0.6694431881987966,
        -0.48278321464150714
      ],
      [
        0.76443145247423,
        0.6447050135279646,
        2.1379227843620896e-07
      ]
    ],
    "servo_angle": [
      [
        94.221477,
        -24.205519,
        -63.468254,
        236.577711,
        4.483051,
        -146.175743,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -124.63952,
        -23.256414,
        -33.479586,
        -137.839322,
        41.480483,
        106.199045,
        0.0
      ]
    ],
    "turn_angle": 1347.868219139132,
    "filename": "scan-0419_light-41_camera-419.png"
  },
  {
    "id": 420,
    "scan_id": "0420",
    "camera_id": 420,
    "light_id": 42,
    "position": [
      130.618576,
      -136.381149,
      443.91507
    ],
    "rotation_matrix": [
      [
        0.999891881563409,
        0.014704472773365194,
        6.0531336539236535e-05
      ],
      [
        -6.299957392841022e-05,
        0.00016739307691299166,
        0.9999999840053054
      ],
      [
        0.014704462405644974,
        -0.9998918693838924,
        0.0001683013541547429
      ]
    ],
    "position_light": [
      373.188629,
      215.341583,
      137.707672
    ],
    "rotation_matrix_light": [
      [
        0.27307344803105243,
        0.5277646089621324,
        0.8042980849830985
      ],
      [
        0.3696107204564022,
        0.7143411823710026,
        -0.5942260432634178
      ],
      [
        -0.8881547203635927,
        0.45954454919609844,
        1.523907434131111e-07
      ]
    ],
    "servo_angle": [
      [
        95.342755,
        -24.219155,
        -62.982099,
        238.941277,
        5.689929,
        -149.286789,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -64.053702,
        -18.373611,
        -19.858202,
        -213.27483,
        56.883193,
        47.662583,
        0.0
      ]
    ],
    "turn_angle": 1377.416006248845,
    "filename": "scan-0420_light-42_camera-420.png"
  },
  {
    "id": 421,
    "scan_id": "0421",
    "camera_id": 421,
    "light_id": 42,
    "position": [
      108.424355,
      -136.381149,
      442.146698
    ],
    "rotation_matrix": [
      [
        0.9982960781050045,
        0.05835184336425091,
        5.30675109216977e-05
      ],
      [
        -6.28990281195986e-05,
        0.0001666501424451572,
        0.9999999841357211
      ],
      [
        0.05835183359483273,
        -0.998296065605652,
        0.00017003645785523824
      ]
    ],
    "position_light": [
      373.188629,
      215.341583,
      137.707672
    ],
    "rotation_matrix_light": [
      [
        0.27307344803105243,
        0.5277646089621324,
        0.8042980849830985
      ],
      [
        0.3696107204564022,
        0.7143411823710026,
        -0.5942260432634178
      ],
      [
        -0.8881547203635927,
        0.45954454919609844,
        1.523907434131111e-07
      ]
    ],
    "servo_angle": [
      [
        99.14794,
        -24.009453,
        -61.89411,
        244.350285,
        9.665053,
        -156.941448,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -64.053702,
        -18.373611,
        -19.858202,
        -213.27483,
        56.883193,
        47.662583,
        0.0
      ]
    ],
    "turn_angle": 1377.416006248845,
    "filename": "scan-0421_light-42_camera-421.png"
  },
  {
    "id": 422,
    "scan_id": "0422",
    "camera_id": 422,
    "light_id": 42,
    "position": [
      50.921028,
      -136.381149,
      432.955414
    ],
    "rotation_matrix": [
      [
        0.9851273021164302,
        0.1718260676144268,
        3.336115016878971e-05
      ],
      [
        -6.304935289289104e-05,
        0.00016732321049556242,
        0.9999999840138611
      ],
      [
        0.17182605928549666,
        -0.9851272884714473,
        0.0001756681853101738
      ]
    ],
    "position_light": [
      373.188629,
      215.341583,
      137.707672
    ],
    "rotation_matrix_light": [
      [
        0.27307344803105243,
        0.5277646089621324,
        0.8042980849830985
      ],
      [
        0.3696107204564022,
        0.7143411823710026,
        -0.5942260432634178
      ],
      [
        -0.8881547203635927,
        0.45954454919609844,
        1.523907434131111e-07
      ]
    ],
    "servo_angle": [
      [
        109.720788,
        -21.733779,
        -61.224093,
        250.758818,
        20.52226,
        -168.838344,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -64.053702,
        -18.373611,
        -19.858202,
        -213.27483,
        56.883193,
        47.662583,
        0.0
      ]
    ],
    "turn_angle": 1377.416006248845,
    "filename": "scan-0422_light-42_camera-422.png"
  },
  {
    "id": 423,
    "scan_id": "0423",
    "camera_id": 423,
    "light_id": 42,
    "position": [
      34.543709,
      -136.381149,
      429.083557
    ],
    "rotation_matrix": [
      [
        0.9789186550537987,
        0.20425049828456598,
        2.7169259222858955e-05
      ],
      [
        -6.265199188300319e-05,
        0.00016725513586474117,
        0.9999999840502237
      ],
      [
        0.20425049048261804,
        -0.9789186411424732,
        0.0001765258732122077
      ]
    ],
    "position_light": [
      373.188629,
      215.341583,
      137.707672
    ],
    "rotation_matrix_light": [
      [
        0.27307344803105243,
        0.5277646089621324,
        0.8042980849830985
      ],
      [
        0.3696107204564022,
        0.7143411823710026,
        -0.5942260432634178
      ],
      [
        -0.8881547203635927,
        0.45954454919609844,
        1.523907434131111e-07
      ]
    ],
    "servo_angle": [
      [
        112.649576,
        -20.661832,
        -61.428066,
        251.551333,
        23.547018,
        -171.115679,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -64.053702,
        -18.373611,
        -19.858202,
        -213.27483,
        56.883193,
        47.662583,
        0.0
      ]
    ],
    "turn_angle": 1377.416006248845,
    "filename": "scan-0423_light-42_camera-423.png"
  },
  {
    "id": 424,
    "scan_id": "0424",
    "camera_id": 424,
    "light_id": 42,
    "position": [
      -4.384702,
      -136.381149,
      417.530304
    ],
    "rotation_matrix": [
      [
        0.9595555843915389,
        0.28151923605952145,
        1.3837472606886836e-05
      ],
      [
        -6.333868316790725e-05,
        0.0001667364383763914,
        0.9999999840935855
      ],
      [
        0.2815192292743489,
        -0.9595555700048973,
        0.0001778239382640434
      ]
    ],
    "position_light": [
      373.188629,
      215.341583,
      137.707672
    ],
    "rotation_matrix_light": [
      [
        0.27307344803105243,
        0.5277646089621324,
        0.8042980849830985
      ],
      [
        0.3696107204564022,
        0.7143411823710026,
        -0.5942260432634178
      ],
      [
        -0.8881547203635927,
        0.45954454919609844,
        1.523907434131111e-07
      ]
    ],
    "servo_angle": [
      [
        119.215672,
        -17.436825,
        -62.418481,
        252.583918,
        30.394265,
        -175.544872,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -64.053702,
        -18.373611,
        -19.858202,
        -213.27483,
        56.883193,
        47.662583,
        0.0
      ]
    ],
    "turn_angle": 1377.416006248845,
    "filename": "scan-0424_light-42_camera-424.png"
  },
  {
    "id": 425,
    "scan_id": "0425",
    "camera_id": 425,
    "light_id": 42,
    "position": [
      -41.7519,
      -136.381149,
      403.138855
    ],
    "rotation_matrix": [
      [
        0.9344983946647121,
        0.3559673445245539,
        -1.1015472943798343e-06
      ],
      [
        -6.261437357121813e-05,
        0.00016747204421696527,
        0.9999999840162771
      ],
      [
        0.3559673390193489,
        -0.934498379658976,
        0.0001787910287611716
      ]
    ],
    "position_light": [
      373.188629,
      215.341583,
      137.707672
    ],
    "rotation_matrix_light": [
      [
        0.27307344803105243,
        0.5277646089621324,
        0.8042980849830985
      ],
      [
        0.3696107204564022,
        0.7143411823710026,
        -0.5942260432634178
      ],
      [
        -0.8881547203635927,
        0.45954454919609844,
        1.523907434131111e-07
      ]
    ],
    "servo_angle": [
      [
        124.896377,
        -13.516877,
        -63.942835,
        252.936917,
        36.41565,
        -179.000208,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -64.053702,
        -18.373611,
        -19.858202,
        -213.27483,
        56.883193,
        47.662583,
        0.0
      ]
    ],
    "turn_angle": 1377.416006248845,
    "filename": "scan-0425_light-42_camera-425.png"
  },
  {
    "id": 426,
    "scan_id": "0426",
    "camera_id": 426,
    "light_id": 42,
    "position": [
      -76.58889,
      -136.381149,
      386.534637
    ],
    "rotation_matrix": [
      [
        0.9048913203176487,
        0.4256426884152572,
        -1.4574452037369179e-05
      ],
      [
        -6.243104510117448e-05,
        0.00016696577803521073,
        0.9999999841123967
      ],
      [
        0.4256426840862497,
        -0.9048913050311961,
        0.00017765920121159962
      ]
    ],
    "position_light": [
      373.188629,
      215.341583,
      137.707672
    ],
    "rotation_matrix_light": [
      [
        0.27307344803105243,
        0.5277646089621324,
        0.8042980849830985
      ],
      [
        0.3696107204564022,
        0.7143411823710026,
        -0.5942260432634178
      ],
      [
        -0.8881547203635927,
        0.45954454919609844,
        1.523907434131111e-07
      ]
    ],
    "servo_angle": [
      [
        129.617893,
        -9.193738,
        -65.823511,
        252.992379,
        41.511251,
        -181.844657,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -64.053702,
        -18.373611,
        -19.858202,
        -213.27483,
        56.883193,
        47.662583,
        0.0
      ]
    ],
    "turn_angle": 1377.416006248845,
    "filename": "scan-0426_light-42_camera-426.png"
  },
  {
    "id": 427,
    "scan_id": "0427",
    "camera_id": 427,
    "light_id": 42,
    "position": [
      -104.132271,
      -136.381149,
      370.995361
    ],
    "rotation_matrix": [
      [
        0.87675665415284,
        0.4809342665918655,
        -2.4828648325259106e-05
      ],
      [
        -6.312194781826763e-05,
        0.00016669894676396568,
        0.9999999841135404
      ],
      [
        0.4809342630904322,
        -0.8767566386570481,
        0.00017651191849538117
      ]
    ],
    "position_light": [
      373.188629,
      215.341583,
      137.707672
    ],
    "rotation_matrix_light": [
      [
        0.27307344803105243,
        0.5277646089621324,
        0.8042980849830985
      ],
      [
        0.3696107204564022,
        0.7143411823710026,
        -0.5942260432634178
      ],
      [
        -0.8881547203635927,
        0.45954454919609844,
        1.523907434131111e-07
      ]
    ],
    "servo_angle": [
      [
        132.97342,
        -5.338821,
        -67.620307,
        252.943334,
        45.196401,
        -183.963971,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -64.053702,
        -18.373611,
        -19.858202,
        -213.27483,
        56.883193,
        47.662583,
        0.0
      ]
    ],
    "turn_angle": 1377.416006248845,
    "filename": "scan-0427_light-42_camera-427.png"
  },
  {
    "id": 428,
    "scan_id": "0428",
    "camera_id": 428,
    "light_id": 42,
    "position": [
      -112.534279,
      -136.381149,
      365.793304
    ],
    "rotation_matrix": [
      [
        0.8672695967028785,
        0.49783877494478346,
        -2.8218862523965438e-05
      ],
      [
        -6.331685789576214e-05,
        0.00016698508045082106,
        0.9999999840534792
      ],
      [
        0.497838771718116,
        -0.8672695810862159,
        0.00017634267034621898
      ]
    ],
    "position_light": [
      373.188629,
      215.341583,
      137.707672
    ],
    "rotation_matrix_light": [
      [
        0.27307344803105243,
        0.5277646089621324,
        0.8042980849830985
      ],
      [
        0.3696107204564022,
        0.7143411823710026,
        -0.5942260432634178
      ],
      [
        -0.8881547203635927,
        0.45954454919609844,
        1.523907434131111e-07
      ]
    ],
    "servo_angle": [
      [
        133.934213,
        -4.086564,
        -68.224376,
        252.919213,
        46.263133,
        -184.600069,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -64.053702,
        -18.373611,
        -19.858202,
        -213.27483,
        56.883193,
        47.662583,
        0.0
      ]
    ],
    "turn_angle": 1377.416006248845,
    "filename": "scan-0428_light-42_camera-428.png"
  },
  {
    "id": 429,
    "scan_id": "0429",
    "camera_id": 429,
    "light_id": 42,
    "position": [
      -141.306335,
      -136.381149,
      346.184021
    ],
    "rotation_matrix": [
      [
        0.8312615610757954,
        0.5558814760790258,
        -4.037369680515157e-05
      ],
      [
        -6.316892578567268e-05,
        0.00016709244689389058,
        0.9999999840449005
      ],
      [
        0.5558814739560212,
        -0.8312615452625713,
        0.00017401196395711027
      ]
    ],
    "position_light": [
      373.188629,
      215.341583,
      137.707672
    ],
    "rotation_matrix_light": [
      [
        0.27307344803105243,
        0.5277646089621324,
        0.8042980849830985
      ],
      [
        0.3696107204564022,
        0.7143411823710026,
        -0.5942260432634178
      ],
      [
        -0.8881547203635927,
        0.45954454919609844,
        1.523907434131111e-07
      ]
    ],
    "servo_angle": [
      [
        137.015867,
        0.477961,
        -70.501769,
        252.818085,
        49.725231,
        -186.776621,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -64.053702,
        -18.373611,
        -19.858202,
        -213.27483,
        56.883193,
        47.662583,
        0.0
      ]
    ],
    "turn_angle": 1377.416006248845,
    "filename": "scan-0429_light-42_camera-429.png"
  },
  {
    "id": 430,
    "scan_id": "0430",
    "camera_id": 430,
    "light_id": 43,
    "position": [
      -175.579529,
      -136.381149,
      318.724121
    ],
    "rotation_matrix": [
      [
        0.7803312436002752,
        0.6253664103917262,
        -5.490915015049502e-05
      ],
      [
        -6.320740096826816e-05,
        0.0001666732612247146,
        0.9999999841124241
      ],
      [
        0.6253664096080571,
        -0.7803312277320387,
        0.0001695881386600262
      ]
    ],
    "position_light": [
      -93.77549,
      213.883118,
      135.83226
    ],
    "rotation_matrix_light": [
      [
        0.28239484623687106,
        -0.5698912126785836,
        -0.7716716636825451
      ],
      [
        -0.34262380265855885,
        0.6914376952281367,
        -0.6360211030063319
      ],
      [
        0.8960257142909698,
        0.4440021614016485,
        1.47236692393804e-07
      ]
    ],
    "servo_angle": [
      [
        140.299201,
        6.508972,
        -73.677846,
        252.68006,
        53.49535,
        -189.441448,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -135.282784,
        -0.463236,
        -39.220737,
        -173.094847,
        50.650329,
        149.71943,
        0.0
      ]
    ],
    "turn_angle": 1411.194980496845,
    "filename": "scan-0430_light-43_camera-430.png"
  },
  {
    "id": 431,
    "scan_id": "0431",
    "camera_id": 431,
    "light_id": 43,
    "position": [
      -213.846039,
      -136.381149,
      281.550079
    ],
    "rotation_matrix": [
      [
        0.7106982926916698,
        0.7034969306176857,
        -7.332557900491254e-05
      ],
      [
        -6.254109519848727e-05,
        0.0001674114303685803,
        0.9999999840310119
      ],
      [
        0.7034969316590918,
        -0.7106982767566754,
        0.000162976486249633
      ]
    ],
    "position_light": [
      -93.77549,
      213.883118,
      135.83226
    ],
    "rotation_matrix_light": [
      [
        0.28239484623687106,
        -0.5698912126785836,
        -0.7716716636825451
      ],
      [
        -0.34262380265855885,
        0.6914376952281367,
        -0.6360211030063319
      ],
      [
        0.8960257142909698,
        0.4440021614016485,
        1.47236692393804e-07
      ]
    ],
    "servo_angle": [
      [
        143.528449,
        14.135556,
        -77.944376,
        252.520434,
        57.311822,
        -192.660038,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -135.282784,
        -0.463236,
        -39.220737,
        -173.094847,
        50.650329,
        149.71943,
        0.0
      ]
    ],
    "turn_angle": 1411.194980496845,
    "filename": "scan-0431_light-43_camera-431.png"
  },
  {
    "id": 432,
    "scan_id": "0432",
    "camera_id": 432,
    "light_id": 43,
    "position": [
      -223.317673,
      -136.381149,
      271.043732
    ],
    "rotation_matrix": [
      [
        0.6909051457934325,
        0.7229454153629251,
        -7.695377392524794e-05
      ],
      [
        -6.287338213611937e-05,
        0.00016653168192087842,
        0.9999999841570681
      ],
      [
        0.7229454167245916,
        -0.6909051300091253,
        0.0001605116193404421
      ]
    ],
    "position_light": [
      -93.77549,
      213.883118,
      135.83226
    ],
    "rotation_matrix_light": [
      [
        0.28239484623687106,
        -0.5698912126785836,
        -0.7716716636825451
      ],
      [
        -0.34262380265855885,
        0.6914376952281367,
        -0.6360211030063319
      ],
      [
        0.8960257142909698,
        0.4440021614016485,
        1.47236692393804e-07
      ]
    ],
    "servo_angle": [
      [
        144.264413,
        16.198949,
        -79.144551,
        252.480384,
        58.20111,
        -193.520792,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -135.282784,
        -0.463236,
        -39.220737,
        -173.094847,
        50.650329,
        149.71943,
        0.0
      ]
    ],
    "turn_angle": 1411.194980496845,
    "filename": "scan-0432_light-43_camera-432.png"
  },
  {
    "id": 433,
    "scan_id": "0433",
    "camera_id": 433,
    "light_id": 43,
    "position": [
      -243.701523,
      -136.381149,
      246.260208
    ],
    "rotation_matrix": [
      [
        0.6440496491070713,
        0.7649836873970839,
        -8.661073361143634e-05
      ],
      [
        -6.311701877592668e-05,
        0.00016635809120169043,
        0.9999999841706138
      ],
      [
        0.7649836896962579,
        -0.6440496334455492,
        0.0001554263600253014
      ]
    ],
    "position_light": [
      -93.77549,
      213.883118,
      135.83226
    ],
    "rotation_matrix_light": [
      [
        0.28239484623687106,
        -0.5698912126785836,
        -0.7716716636825451
      ],
      [
        -0.34262380265855885,
        0.6914376952281367,
        -0.6360211030063319
      ],
      [
        0.8960257142909698,
        0.4440021614016485,
        1.47236692393804e-07
      ]
    ],
    "servo_angle": [
      [
        145.771636,
        20.932727,
        -81.96992,
        252.392263,
        60.051134,
        -195.497039,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -135.282784,
        -0.463236,
        -39.220737,
        -173.094847,
        50.650329,
        149.71943,
        0.0
      ]
    ],
    "turn_angle": 1411.194980496845,
    "filename": "scan-0433_light-43_camera-433.png"
  },
  {
    "id": 434,
    "scan_id": "0434",
    "camera_id": 434,
    "light_id": 43,
    "position": [
      -271.141571,
      -136.381149,
      206.983002
    ],
    "rotation_matrix": [
      [
        0.5693823413298904,
        0.8220728307588864,
        -0.00010153700565224133
      ],
      [
        -6.263667136363615e-05,
        0.00016689667082953052,
        0.9999999841110743
      ],
      [
        0.8220728346432205,
        -0.5693823259230766,
        0.00014651992293429617
      ]
    ],
    "position_light": [
      -93.77549,
      213.883118,
      135.83226
    ],
    "rotation_matrix_light": [
      [
        0.28239484623687106,
        -0.5698912126785836,
        -0.7716716636825451
      ],
      [
        -0.34262380265855885,
        0.6914376952281367,
        -0.6360211030063319
      ],
      [
        0.8960257142909698,
        0.4440021614016485,
        1.47236692393804e-07
      ]
    ],
    "servo_angle": [
      [
        147.649849,
        28.115497,
        -86.44558,
        252.26266,
        62.426559,
        -198.529418,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -135.282784,
        -0.463236,
        -39.220737,
        -173.094847,
        50.650329,
        149.71943,
        0.0
      ]
    ],
    "turn_angle": 1411.194980496845,
    "filename": "scan-0434_light-43_camera-434.png"
  },
  {
    "id": 435,
    "scan_id": "0435",
    "camera_id": 435,
    "light_id": 43,
    "position": [
      -283.82959,
      -136.381149,
      185.745132
    ],
    "rotation_matrix": [
      [
        0.5288282086398537,
        0.8487288813898324,
        -0.00010789591154758416
      ],
      [
        -6.292873182239811e-05,
        0.00016633627234624582,
        0.9999999841861096
      ],
      [
        0.8487288859151304,
        -0.5288281934872694,
        0.0001413727451035629
      ]
    ],
    "position_light": [
      -93.77549,
      213.883118,
      135.83226
    ],
    "rotation_matrix_light": [
      [
        0.28239484623687106,
        -0.5698912126785836,
        -0.7716716636825451
      ],
      [
        -0.34262380265855885,
        0.6914376952281367,
        -0.6360211030063319
      ],
      [
        0.8960257142909698,
        0.4440021614016485,
        1.47236692393804e-07
      ]
    ],
    "servo_angle": [
      [
        148.46597,
        31.868371,
        -88.87389,
        252.194077,
        63.49186,
        -200.141492,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -135.282784,
        -0.463236,
        -39.220737,
        -173.094847,
        50.650329,
        149.71943,
        0.0
      ]
    ],
    "turn_angle": 1411.194980496845,
    "filename": "scan-0435_light-43_camera-435.png"
  },
  {
    "id": 436,
    "scan_id": "0436",
    "camera_id": 436,
    "light_id": 43,
    "position": [
      -299.944672,
      -136.381149,
      154.792465
    ],
    "rotation_matrix": [
      [
        0.4695220112653611,
        0.8829207592041093,
        -0.00011791424658186278
      ],
      [
        -6.291894542165277e-05,
        0.0001670094093585428,
        0.9999999840745317
      ],
      [
        0.8829207648359714,
        -0.4695219963689632,
        0.0001339670368423196
      ]
    ],
    "position_light": [
      -93.77549,
      213.883118,
      135.83226
    ],
    "rotation_matrix_light": [
      [
        0.28239484623687106,
        -0.5698912126785836,
        -0.7716716636825451
      ],
      [
        -0.34262380265855885,
        0.6914376952281367,
        -0.6360211030063319
      ],
      [
        0.8960257142909698,
        0.4440021614016485,
        1.47236692393804e-07
      ]
    ],
    "servo_angle": [
      [
        149.460453,
        37.209885,
        -92.437115,
        252.091861,
        64.828857,
        -202.478472,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -135.282784,
        -0.463236,
        -39.220737,
        -173.094847,
        50.650329,
        149.71943,
        0.0
      ]
    ],
    "turn_angle": 1411.194980496845,
    "filename": "scan-0436_light-43_camera-436.png"
  },
  {
    "id": 437,
    "scan_id": "0437",
    "camera_id": 437,
    "light_id": 43,
    "position": [
      -315.845001,
      -136.381149,
      117.836975
    ],
    "rotation_matrix": [
      [
        0.3984335356513295,
        0.9171971987527443,
        -0.00012754802920900143
      ],
      [
        -6.295435473474553e-05,
        0.00016641040066345258,
        0.9999999841721638
      ],
      [
        0.9171972054608158,
        -0.3984335213152848,
        0.00012404504211743772
      ]
    ],
    "position_light": [
      -93.77549,
      213.883118,
      135.83226
    ],
    "rotation_matrix_light": [
      [
        0.28239484623687106,
        -0.5698912126785836,
        -0.7716716636825451
      ],
      [
        -0.34262380265855885,
        0.6914376952281367,
        -0.6360211030063319
      ],
      [
        0.8960257142909698,
        0.4440021614016485,
        1.47236692393804e-07
      ]
    ],
    "servo_angle": [
      [
        150.401708,
        43.436274,
        -96.751888,
        251.962087,
        66.151816,
        -205.274735,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -135.282784,
        -0.463236,
        -39.220737,
        -173.094847,
        50.650329,
        149.71943,
        0.0
      ]
    ],
    "turn_angle": 1411.194980496845,
    "filename": "scan-0437_light-43_camera-437.png"
  },
  {
    "id": 438,
    "scan_id": "0438",
    "camera_id": 438,
    "light_id": 43,
    "position": [
      -324.469269,
      -136.381149,
      93.579185
    ],
    "rotation_matrix": [
      [
        0.35161745196603456,
        0.9361437654126401,
        -0.0001339849145126082
      ],
      [
        -6.293986496963555e-05,
        0.0001667646285750113,
        0.9999999841140659
      ],
      [
        0.9361437728850663,
        -0.35161743794727046,
        0.00011755811596481092
      ]
    ],
    "position_light": [
      -93.77549,
      213.883118,
      135.83226
    ],
    "rotation_matrix_light": [
      [
        0.28239484623687106,
        -0.5698912126785836,
        -0.7716716636825451
      ],
      [
        -0.34262380265855885,
        0.6914376952281367,
        -0.6360211030063319
      ],
      [
        0.8960257142909698,
        0.4440021614016485,
        1.47236692393804e-07
      ]
    ],
    "servo_angle": [
      [
        150.899092,
        47.460787,
        -99.635985,
        251.870299,
        66.885603,
        -207.127222,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -135.282784,
        -0.463236,
        -39.220737,
        -173.094847,
        50.650329,
        149.71943,
        0.0
      ]
    ],
    "turn_angle": 1411.194980496845,
    "filename": "scan-0438_light-43_camera-438.png"
  },
  {
    "id": 439,
    "scan_id": "0439",
    "camera_id": 439,
    "light_id": 43,
    "position": [
      -333.529541,
      -136.381149,
      62.61821
    ],
    "rotation_matrix": [
      [
        0.2917006445160562,
        0.9565096518504765,
        -0.00014108790745304134
      ],
      [
        -6.300790849439464e-05,
        0.00016671797552814116,
        0.99999998411756
      ],
      [
        0.9565096601806595,
        -0.29170063099348426,
        0.00010889941353181554
      ]
    ],
    "position_light": [
      -93.77549,
      213.883118,
      135.83226
    ],
    "rotation_matrix_light": [
      [
        0.28239484623687106,
        -0.5698912126785836,
        -0.7716716636825451
      ],
      [
        -0.34262380265855885,
        0.6914376952281367,
        -0.6360211030063319
      ],
      [
        0.8960257142909698,
        0.4440021614016485,
        1.47236692393804e-07
      ]
    ],
    "servo_angle": [
      [
        151.415786,
        52.555127,
        -103.398714,
        251.743847,
        67.689177,
        -209.525738,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -135.282784,
        -0.463236,
        -39.220737,
        -173.094847,
        50.650329,
        149.71943,
        0.0
      ]
    ],
    "turn_angle": 1411.194980496845,
    "filename": "scan-0439_light-43_camera-439.png"
  },
  {
    "id": 440,
    "scan_id": "0440",
    "camera_id": 440,
    "light_id": 44,
    "position": [
      -335.775146,
      -136.381149,
      53.595196
    ],
    "rotation_matrix": [
      [
        0.27420537943621714,
        0.9616711440527339,
        -0.00014347315450402576
      ],
      [
        -6.279430836020339e-05,
        0.00016709629935585113,
        0.9999999840678506
      ],
      [
        0.9616711527050787,
        -0.2742053660582386,
        0.00010620617852807879
      ]
    ],
    "position_light": [
      -129.225906,
      206.197983,
      211.24469
    ],
    "rotation_matrix_light": [
      [
        0.3781421253918356,
        -0.5796271492819897,
        -0.7218316291347857
      ],
      [
        -0.39440418381993825,
        0.604554580335589,
        -0.692068709869611
      ],
      [
        0.837528431033522,
        0.5463937474116021,
        1.8119102823677125e-07
      ]
    ],
    "servo_angle": [
      [
        151.54367,
        54.035306,
        -104.516325,
        251.704886,
        67.897676,
        -210.234143,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.035617,
        -2.919908,
        -50.733579,
        -183.310284,
        36.571438,
        149.922085,
        0.0
      ]
    ],
    "turn_angle": 1443.0425586662916,
    "filename": "scan-0440_light-44_camera-440.png"
  },
  {
    "id": 441,
    "scan_id": "0441",
    "camera_id": 441,
    "light_id": 44,
    "position": [
      -322.543304,
      -136.381149,
      99.346558
    ],
    "rotation_matrix": [
      [
        0.3627584960920852,
        0.9318831771376401,
        -0.0001329694183093144
      ],
      [
        -6.275614503720162e-05,
        0.0001671183092533668,
        0.9999999840665683
      ],
      [
        0.9318831845111676,
        -0.36275848196744936,
        0.00011910498235639944
      ]
    ],
    "position_light": [
      -129.225906,
      206.197983,
      211.24469
    ],
    "rotation_matrix_light": [
      [
        0.3781421253918356,
        -0.5796271492819897,
        -0.7218316291347857
      ],
      [
        -0.39440418381993825,
        0.604554580335589,
        -0.692068709869611
      ],
      [
        0.837528431033522,
        0.5463937474116021,
        1.8119102823677125e-07
      ]
    ],
    "servo_angle": [
      [
        150.788683,
        46.507328,
        -98.945801,
        251.892644,
        66.719904,
        -206.685013,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.035617,
        -2.919908,
        -50.733579,
        -183.310284,
        36.571438,
        149.922085,
        0.0
      ]
    ],
    "turn_angle": 1443.0425586662916,
    "filename": "scan-0441_light-44_camera-441.png"
  },
  {
    "id": 442,
    "scan_id": "0442",
    "camera_id": 442,
    "light_id": 44,
    "position": [
      -314.813629,
      -136.381149,
      120.498909
    ],
    "rotation_matrix": [
      [
        0.40356355996472704,
        0.9149516036024068,
        -0.0001270196069994567
      ],
      [
        -6.295491847513324e-05,
        0.00016659451210543352,
        0.9999999841414733
      ],
      [
        0.9149516102533917,
        -0.4035635455682945,
        0.00012483217798930912
      ]
    ],
    "position_light": [
      -129.225906,
      206.197983,
      211.24469
    ],
    "rotation_matrix_light": [
      [
        0.3781421253918356,
        -0.5796271492819897,
        -0.7218316291347857
      ],
      [
        -0.39440418381993825,
        0.604554580335589,
        -0.692068709869611
      ],
      [
        0.837528431033522,
        0.5463937474116021,
        1.8119102823677125e-07
      ]
    ],
    "servo_angle": [
      [
        150.341719,
        42.99206,
        -96.438193,
        251.971827,
        66.065185,
        -205.072481,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.035617,
        -2.919908,
        -50.733579,
        -183.310284,
        36.571438,
        149.922085,
        0.0
      ]
    ],
    "turn_angle": 1443.0425586662916,
    "filename": "scan-0442_light-44_camera-442.png"
  },
  {
    "id": 443,
    "scan_id": "0443",
    "camera_id": 443,
    "light_id": 44,
    "position": [
      -293.09613,
      -136.381149,
      168.584503
    ],
    "rotation_matrix": [
      [
        0.4959758824351551,
        0.8683362891701747,
        -0.00011381054213410735
      ],
      [
        -6.299271161958053e-05,
        0.00016704749975560151,
        0.9999999840635252
      ],
      [
        0.868336294343722,
        -0.4959758673618135,
        0.00013755038855234325
      ]
    ],
    "position_light": [
      -129.225906,
      206.197983,
      211.24469
    ],
    "rotation_matrix_light": [
      [
        0.3781421253918356,
        -0.5796271492819897,
        -0.7218316291347857
      ],
      [
        -0.39440418381993825,
        0.604554580335589,
        -0.692068709869611
      ],
      [
        0.837528431033522,
        0.5463937474116021,
        1.8119102823677125e-07
      ]
    ],
    "servo_angle": [
      [
        149.043225,
        34.846548,
        -90.844979,
        252.137927,
        64.261858,
        -201.437866,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.035617,
        -2.919908,
        -50.733579,
        -183.310284,
        36.571438,
        149.922085,
        0.0
      ]
    ],
    "turn_angle": 1443.0425586662916,
    "filename": "scan-0443_light-44_camera-443.png"
  },
  {
    "id": 444,
    "scan_id": "0444",
    "camera_id": 444,
    "light_id": 44,
    "position": [
      -281.698242,
      -136.381149,
      189.480835
    ],
    "rotation_matrix": [
      [
        0.5359700204569775,
        0.8442370080282128,
        -0.00010699027273253225
      ],
      [
        -6.27121764302796e-05,
        0.00016654341871491507,
        0.9999999841652362
      ],
      [
        0.844237012478445,
        -0.535970005260426,
        0.00014220621973215497
      ]
    ],
    "position_light": [
      -129.225906,
      206.197983,
      211.24469
    ],
    "rotation_matrix_light": [
      [
        0.3781421253918356,
        -0.5796271492819897,
        -0.7218316291347857
      ],
      [
        -0.39440418381993825,
        0.604554580335589,
        -0.692068709869611
      ],
      [
        0.837528431033522,
        0.5463937474116021,
        1.8119102823677125e-07
      ]
    ],
    "servo_angle": [
      [
        148.331038,
        31.213996,
        -88.446005,
        252.206167,
        63.313956,
        -199.858737,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.035617,
        -2.919908,
        -50.733579,
        -183.310284,
        36.571438,
        149.922085,
        0.0
      ]
    ],
    "turn_angle": 1443.0425586662916,
    "filename": "scan-0444_light-44_camera-444.png"
  },
  {
    "id": 445,
    "scan_id": "0445",
    "camera_id": 445,
    "light_id": 44,
    "position": [
      -260.591492,
      -136.381149,
      223.028824
    ],
    "rotation_matrix": [
      [
        0.5999417758652201,
        0.8000436591172961,
        -9.527798227659812e-05
      ],
      [
        -6.299329143522048e-05,
        0.0001663287826662585,
        0.9999999841832906
      ],
      [
        0.8000436623107089,
        -0.5999417603742415,
        0.0001501849686300072
      ]
    ],
    "position_light": [
      -129.225906,
      206.197983,
      211.24469
    ],
    "rotation_matrix_light": [
      [
        0.3781421253918356,
        -0.5796271492819897,
        -0.7218316291347857
      ],
      [
        -0.39440418381993825,
        0.604554580335589,
        -0.692068709869611
      ],
      [
        0.837528431033522,
        0.5463937474116021,
        1.8119102823677125e-07
      ]
    ],
    "servo_angle": [
      [
        146.946887,
        25.22292,
        -84.615954,
        252.314742,
        61.526614,
        -197.301053,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.035617,
        -2.919908,
        -50.733579,
        -183.310284,
        36.571438,
        149.922085,
        0.0
      ]
    ],
    "turn_angle": 1443.0425586662916,
    "filename": "scan-0445_light-44_camera-445.png"
  },
  {
    "id": 446,
    "scan_id": "0446",
    "camera_id": 446,
    "light_id": 44,
    "position": [
      -250.976166,
      -136.381149,
      236.589813
    ],
    "rotation_matrix": [
      [
        0.6257099484104598,
        0.7800558006410692,
        -9.13586381995346e-05
      ],
      [
        -6.257560411621066e-05,
        0.0001673121521024723,
        0.9999999840454689
      ],
      [
        0.7800558034810547,
        -0.6257099327107288,
        0.00015350134102992685
      ]
    ],
    "position_light": [
      -129.225906,
      206.197983,
      211.24469
    ],
    "rotation_matrix_light": [
      [
        0.3781421253918356,
        -0.5796271492819897,
        -0.7218316291347857
      ],
      [
        -0.39440418381993825,
        0.604554580335589,
        -0.692068709869611
      ],
      [
        0.837528431033522,
        0.5463937474116021,
        1.8119102823677125e-07
      ]
    ],
    "servo_angle": [
      [
        146.285636,
        22.734392,
        -83.07126,
        252.359547,
        60.692388,
        -196.252483,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.035617,
        -2.919908,
        -50.733579,
        -183.310284,
        36.571438,
        149.922085,
        0.0
      ]
    ],
    "turn_angle": 1443.0425586662916,
    "filename": "scan-0446_light-44_camera-446.png"
  },
  {
    "id": 447,
    "scan_id": "0447",
    "camera_id": 447,
    "light_id": 44,
    "position": [
      -221.40303,
      -136.381149,
      273.21524
    ],
    "rotation_matrix": [
      [
        0.6949995804330091,
        0.719010137183991,
        -7.631906633215335e-05
      ],
      [
        -6.255456992521058e-05,
        0.00016661025871611557,
        0.9999999841639737
      ],
      [
        0.7190101385132668,
        -0.694999564652871,
        0.0001607714298069718
      ]
    ],
    "position_light": [
      -129.225906,
      206.197983,
      211.24469
    ],
    "rotation_matrix_light": [
      [
        0.3781421253918356,
        -0.5796271492819897,
        -0.7218316291347857
      ],
      [
        -0.39440418381993825,
        0.604554580335589,
        -0.692068709869611
      ],
      [
        0.837528431033522,
        0.5463937474116021,
        1.8119102823677125e-07
      ]
    ],
    "servo_angle": [
      [
        144.117564,
        15.775419,
        -78.896632,
        252.48852,
        58.022978,
        -193.344207,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.035617,
        -2.919908,
        -50.733579,
        -183.310284,
        36.571438,
        149.922085,
        0.0
      ]
    ],
    "turn_angle": 1443.0425586662916,
    "filename": "scan-0447_light-44_camera-447.png"
  },
  {
    "id": 448,
    "scan_id": "0448",
    "camera_id": 448,
    "light_id": 44,
    "position": [
      -196.567383,
      -136.381149,
      299.304169
    ],
    "rotation_matrix": [
      [
        0.7440383142161984,
        0.6681369490796532,
        -6.521388590818855e-05
      ],
      [
        -6.250122513701273e-05,
        0.0001672070242641488,
        0.9999999840677041
      ],
      [
        0.6681369493389173,
        -0.7440382982860119,
        0.00016616781033534922
      ]
    ],
    "position_light": [
      -129.225906,
      206.197983,
      211.24469
    ],
    "rotation_matrix_light": [
      [
        0.3781421253918356,
        -0.5796271492819897,
        -0.7218316291347857
      ],
      [
        -0.39440418381993825,
        0.604554580335589,
        -0.692068709869611
      ],
      [
        0.837528431033522,
        0.5463937474116021,
        1.8119102823677125e-07
      ]
    ],
    "servo_angle": [
      [
        142.123041,
        10.561216,
        -75.911121,
        252.592798,
        55.635291,
        -191.16267,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.035617,
        -2.919908,
        -50.733579,
        -183.310284,
        36.571438,
        149.922085,
        0.0
      ]
    ],
    "turn_angle": 1443.0425586662916,
    "filename": "scan-0448_light-44_camera-448.png"
  },
  {
    "id": 449,
    "scan_id": "0449",
    "camera_id": 449,
    "light_id": 44,
    "position": [
      -173.880554,
      -136.381149,
      320.203308
    ],
    "rotation_matrix": [
      [
        0.7830871093142397,
        0.6219120325671873,
        -5.453455190068679e-05
      ],
      [
        -6.265158354179512e-05,
        0.00016657693220545333,
        0.999999984163452
      ],
      [
        0.621912031802446,
        -0.7830870934961672,
        0.00016940802198317506
      ]
    ],
    "position_light": [
      -129.225906,
      206.197983,
      211.24469
    ],
    "rotation_matrix_light": [
      [
        0.3781421253918356,
        -0.5796271492819897,
        -0.7218316291347857
      ],
      [
        -0.39440418381993825,
        0.604554580335589,
        -0.692068709869611
      ],
      [
        0.837528431033522,
        0.5463937474116021,
        1.8119102823677125e-07
      ]
    ],
    "servo_angle": [
      [
        140.145591,
        6.193559,
        -73.507334,
        252.68705,
        53.316817,
        -189.305771,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.035617,
        -2.919908,
        -50.733579,
        -183.310284,
        36.571438,
        149.922085,
        0.0
      ]
    ],
    "turn_angle": 1443.0425586662916,
    "filename": "scan-0449_light-44_camera-449.png"
  },
  {
    "id": 450,
    "scan_id": "0450",
    "camera_id": 450,
    "light_id": 45,
    "position": [
      -163.978348,
      -136.381149,
      328.568115
    ],
    "rotation_matrix": [
      [
        0.7986468303527898,
        0.6017999982291775,
        -4.998804478290042e-05
      ],
      [
        -6.308798994297815e-05,
        0.00016678808156322944,
        0.9999999841008208
      ],
      [
        0.6017999969984615,
        -0.7986468145013151,
        0.00017117112491704667
      ]
    ],
    "position_light": [
      310.49707,
      205.863815,
      260.87323
    ],
    "rotation_matrix_light": [
      [
        0.33043560854551257,
        0.36059647517406646,
        0.8722284624438691
      ],
      [
        0.5892781867872854,
        0.6430658669793751,
        -0.4890986703138275
      ],
      [
        -0.7372676089330429,
        0.6756008235771355,
        2.2403771715584497e-07
      ]
    ],
    "servo_angle": [
      [
        139.23201,
        4.39069,
        -72.541671,
        252.727787,
        52.259423,
        -188.523913,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.73893,
        -38.175318,
        -23.380001,
        -245.96975,
        53.761203,
        96.276677,
        0.0
      ]
    ],
    "turn_angle": 1488.916822043234,
    "filename": "scan-0450_light-45_camera-450.png"
  },
  {
    "id": 451,
    "scan_id": "0451",
    "camera_id": 451,
    "light_id": 45,
    "position": [
      -124.333076,
      -136.381149,
      358.098694
    ],
    "rotation_matrix": [
      [
        0.8531829480984303,
        0.5216117866562725,
        -3.3095649890291234e-05
      ],
      [
        -6.313721075590362e-05,
        0.00016672023753377951,
        0.9999999841090272
      ],
      [
        0.5216117838850685,
        -0.8531829324509566,
        0.0001751759770736716
      ]
    ],
    "position_light": [
      310.49707,
      205.863815,
      260.87323
    ],
    "rotation_matrix_light": [
      [
        0.33043560854551257,
        0.36059647517406646,
        0.8722284624438691
      ],
      [
        0.5892781867872854,
        0.6430658669793751,
        -0.4890986703138275
      ],
      [
        -0.7372676089330429,
        0.6756008235771355,
        2.2403771715584497e-07
      ]
    ],
    "servo_angle": [
      [
        135.236088,
        -2.267079,
        -69.118363,
        252.880538,
        47.717816,
        -185.490961,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.73893,
        -38.175318,
        -23.380001,
        -245.96975,
        53.761203,
        96.276677,
        0.0
      ]
    ],
    "turn_angle": 1488.916822043234,
    "filename": "scan-0451_light-45_camera-451.png"
  },
  {
    "id": 452,
    "scan_id": "0452",
    "camera_id": 452,
    "light_id": 45,
    "position": [
      -95.052101,
      -136.381149,
      376.368622
    ],
    "rotation_matrix": [
      [
        0.8865229830377372,
        0.4626845578741639,
        -2.1228794483713065e-05
      ],
      [
        -6.294312655669154e-05,
        0.00016648345217767924,
        0.9999999841607116
      ],
      [
        0.4626845540798127,
        -0.8865229676596372,
        0.00017671421933312947
      ]
    ],
    "position_light": [
      310.49707,
      205.863815,
      260.87323
    ],
    "rotation_matrix_light": [
      [
        0.33043560854551257,
        0.36059647517406646,
        0.8722284624438691
      ],
      [
        0.5892781867872854,
        0.6430658669793751,
        -0.4890986703138275
      ],
      [
        -0.7372676089330429,
        0.6756008235771355,
        2.2403771715584497e-07
      ]
    ],
    "servo_angle": [
      [
        131.902677,
        -6.651925,
        -66.997273,
        252.965393,
        44.01393,
        -183.272583,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.73893,
        -38.175318,
        -23.380001,
        -245.96975,
        53.761203,
        96.276677,
        0.0
      ]
    ],
    "turn_angle": 1488.916822043234,
    "filename": "scan-0452_light-45_camera-452.png"
  },
  {
    "id": 453,
    "scan_id": "0453",
    "camera_id": 453,
    "light_id": 45,
    "position": [
      -81.133369,
      -136.381149,
      384.124176
    ],
    "rotation_matrix": [
      [
        0.9005501592685718,
        0.4347521252302774,
        -1.5783143619385598e-05
      ],
      [
        -6.304315475627598e-05,
        0.00016689203390635177,
        0.999999984086305
      ],
      [
        0.43475212094584553,
        -0.9005501439424719,
        0.0001777027932265418
      ]
    ],
    "position_light": [
      310.49707,
      205.863815,
      260.87323
    ],
    "rotation_matrix_light": [
      [
        0.33043560854551257,
        0.36059647517406646,
        0.8722284624438691
      ],
      [
        0.5892781867872854,
        0.6430658669793751,
        -0.4890986703138275
      ],
      [
        -0.7372676089330429,
        0.6756008235771355,
        2.2403771715584497e-07
      ]
    ],
    "servo_angle": [
      [
        130.193887,
        -8.584054,
        -66.100938,
        252.988369,
        42.139671,
        -182.199719,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.73893,
        -38.175318,
        -23.380001,
        -245.96975,
        53.761203,
        96.276677,
        0.0
      ]
    ],
    "turn_angle": 1488.916822043234,
    "filename": "scan-0453_light-45_camera-453.png"
  },
  {
    "id": 454,
    "scan_id": "0454",
    "camera_id": 454,
    "light_id": 45,
    "position": [
      -29.490467,
      -136.381149,
      408.234802
    ],
    "rotation_matrix": [
      [
        0.9434529064228261,
        0.3315065811478891,
        4.237949683821851e-06
      ],
      [
        -6.321435442466217e-05,
        0.00016712131807938846,
        0.9999999840372051
      ],
      [
        0.33150657514786586,
        -0.94345289163058,
        0.0001786270677819335
      ]
    ],
    "position_light": [
      310.49707,
      205.863815,
      260.87323
    ],
    "rotation_matrix_light": [
      [
        0.33043560854551257,
        0.36059647517406646,
        0.8722284624438691
      ],
      [
        0.5892781867872854,
        0.6430658669793751,
        -0.4890986703138275
      ],
      [
        -0.7372676089330429,
        0.6756008235771355,
        2.2403771715584497e-07
      ]
    ],
    "servo_angle": [
      [
        123.102847,
        -14.887449,
        -63.385118,
        252.865412,
        34.50306,
        -177.925683,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.73893,
        -38.175318,
        -23.380001,
        -245.96975,
        53.761203,
        96.276677,
        0.0
      ]
    ],
    "turn_angle": 1488.916822043234,
    "filename": "scan-0454_light-45_camera-454.png"
  },
  {
    "id": 455,
    "scan_id": "0455",
    "camera_id": 455,
    "light_id": 45,
    "position": [
      -17.917305,
      -136.381149,
      412.706238
    ],
    "rotation_matrix": [
      [
        0.9512412177419098,
        0.30844796254990736,
        8.227971533741885e-06
      ],
      [
        -6.278986552407662e-05,
        0.00016696604611815546,
        0.9999999840898861
      ],
      [
        0.30844795626867316,
        -0.951241203124187,
        0.00017819239112065732
      ]
    ],
    "position_light": [
      310.49707,
      205.863815,
      260.87323
    ],
    "rotation_matrix_light": [
      [
        0.33043560854551257,
        0.36059647517406646,
        0.8722284624438691
      ],
      [
        0.5892781867872854,
        0.6430658669793751,
        -0.4890986703138275
      ],
      [
        -0.7372676089330429,
        0.6756008235771355,
        2.2403771715584497e-07
      ]
    ],
    "servo_angle": [
      [
        121.34656,
        -16.106302,
        -62.909677,
        252.761821,
        32.640833,
        -176.862446,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.73893,
        -38.175318,
        -23.380001,
        -245.96975,
        53.761203,
        96.276677,
        0.0
      ]
    ],
    "turn_angle": 1488.916822043234,
    "filename": "scan-0455_light-45_camera-455.png"
  },
  {
    "id": 456,
    "scan_id": "0456",
    "camera_id": 456,
    "light_id": 45,
    "position": [
      40.131512,
      -136.381149,
      430.468842
    ],
    "rotation_matrix": [
      [
        0.9811629772036607,
        0.19318180893394168,
        2.935743195540963e-05
      ],
      [
        -6.2795631247059e-05,
        0.00016696870786875317,
        0.9999999840890796
      ],
      [
        0.19318180095846882,
        -0.9811629634359733,
        0.00017595448814983206
      ]
    ],
    "position_light": [
      310.49707,
      205.863815,
      260.87323
    ],
    "rotation_matrix_light": [
      [
        0.33043560854551257,
        0.36059647517406646,
        0.8722284624438691
      ],
      [
        0.5892781867872854,
        0.6430658669793751,
        -0.4890986703138275
      ],
      [
        -0.7372676089330429,
        0.6756008235771355,
        2.2403771715584497e-07
      ]
    ],
    "servo_angle": [
      [
        111.659677,
        -21.047375,
        -61.342867,
        251.311951,
        22.522971,
        -170.373527,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.73893,
        -38.175318,
        -23.380001,
        -245.96975,
        53.761203,
        96.276677,
        0.0
      ]
    ],
    "turn_angle": 1488.916822043234,
    "filename": "scan-0456_light-45_camera-456.png"
  },
  {
    "id": 457,
    "scan_id": "0457",
    "camera_id": 457,
    "light_id": 45,
    "position": [
      61.961006,
      -136.381149,
      435.246124
    ],
    "rotation_matrix": [
      [
        0.9886866348834686,
        0.14999578858295132,
        3.755237480017326e-05
      ],
      [
        -6.327715454575167e-05,
        0.00016673069974870725,
        0.9999999840984374
      ],
      [
        0.1499957799366502,
        -0.9886866215380138,
        0.00017433572116176688
      ]
    ],
    "position_light": [
      310.49707,
      205.863815,
      260.87323
    ],
    "rotation_matrix_light": [
      [
        0.33043560854551257,
        0.36059647517406646,
        0.8722284624438691
      ],
      [
        0.5892781867872854,
        0.6430658669793751,
        -0.4890986703138275
      ],
      [
        -0.7372676089330429,
        0.6756008235771355,
        2.2403771715584497e-07
      ]
    ],
    "servo_angle": [
      [
        107.705466,
        -22.354865,
        -61.169948,
        250.044339,
        18.448783,
        -167.103714,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.73893,
        -38.175318,
        -23.380001,
        -245.96975,
        53.761203,
        96.276677,
        0.0
      ]
    ],
    "turn_angle": 1488.916822043234,
    "filename": "scan-0457_light-45_camera-457.png"
  },
  {
    "id": 458,
    "scan_id": "0458",
    "camera_id": 458,
    "light_id": 45,
    "position": [
      94.82679,
      -136.381149,
      440.579163
    ],
    "rotation_matrix": [
      [
        0.9963695243233224,
        0.08513382796191375,
        4.833494978400549e-05
      ],
      [
        -6.27776429282384e-05,
        0.00016696983499803197,
        0.9999999840900208
      ],
      [
        0.08513381853695773,
        -0.9963695115054582,
        0.00017170815612627122
      ]
    ],
    "position_light": [
      310.49707,
      205.863815,
      260.87323
    ],
    "rotation_matrix_light": [
      [
        0.33043560854551257,
        0.36059647517406646,
        0.8722284624438691
      ],
      [
        0.5892781867872854,
        0.6430658669793751,
        -0.4890986703138275
      ],
      [
        -0.7372676089330429,
        0.6756008235771355,
        2.2403771715584497e-07
      ]
    ],
    "servo_angle": [
      [
        101.624607,
        -23.691919,
        -61.494758,
        246.616276,
        12.212137,
        -160.54541,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.73893,
        -38.175318,
        -23.380001,
        -245.96975,
        53.761203,
        96.276677,
        0.0
      ]
    ],
    "turn_angle": 1488.916822043234,
    "filename": "scan-0458_light-45_camera-458.png"
  },
  {
    "id": 459,
    "scan_id": "0459",
    "camera_id": 459,
    "light_id": 45,
    "position": [
      118.663025,
      -136.381149,
      443.08374
    ],
    "rotation_matrix": [
      [
        0.9992698939061448,
        0.03820570554741848,
        5.653694422401434e-05
      ],
      [
        -6.296038473394341e-05,
        0.00016692464012141306,
        0.9999999840860772
      ],
      [
        0.03820569550200676,
        -0.9992698815634287,
        0.00016920821334470704
      ]
    ],
    "position_light": [
      310.49707,
      205.863815,
      260.87323
    ],
    "rotation_matrix_light": [
      [
        0.33043560854551257,
        0.36059647517406646,
        0.8722284624438691
      ],
      [
        0.5892781867872854,
        0.6430658669793751,
        -0.4890986703138275
      ],
      [
        -0.7372676089330429,
        0.6756008235771355,
        2.2403771715584497e-07
      ]
    ],
    "servo_angle": [
      [
        97.341805,
        -24.153895,
        -62.322854,
        242.163706,
        7.793143,
        -153.729103,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.73893,
        -38.175318,
        -23.380001,
        -245.96975,
        53.761203,
        96.276677,
        0.0
      ]
    ],
    "turn_angle": 1488.916822043234,
    "filename": "scan-0459_light-45_camera-459.png"
  },
  {
    "id": 460,
    "scan_id": "0460",
    "camera_id": 460,
    "light_id": 46,
    "position": [
      125.31855,
      -136.381149,
      443.58139
    ],
    "rotation_matrix": [
      [
        0.9996844319920377,
        0.02512036978007733,
        5.877813739376542e-05
      ],
      [
        -6.298650328062302e-05,
        0.00016673680888473763,
        0.9999999841157685
      ],
      [
        0.025120359580580495,
        -0.9996844198150479,
        0.0001682664363356623
      ]
    ],
    "position_light": [
      377.208679,
      207.901825,
      222.311249
    ],
    "rotation_matrix_light": [
      [
        0.36156159879934907,
        0.49089541781524115,
        0.7926505529182822
      ],
      [
        0.4700721964842032,
        0.6382217711220872,
        -0.6096762263351778
      ],
      [
        -0.8051741056232343,
        0.5930384975984158,
        1.9665901301868516e-07
      ]
    ],
    "servo_angle": [
      [
        96.210844,
        -24.203915,
        -62.66766,
        240.469298,
        6.608954,
        -151.358662,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.932285,
        -28.438989,
        -26.890399,
        -217.16275,
        41.1335,
        66.57781,
        0.0
      ]
    ],
    "turn_angle": 1503.9439029011044,
    "filename": "scan-0460_light-46_camera-460.png"
  },
  {
    "id": 461,
    "scan_id": "0461",
    "camera_id": 461,
    "light_id": 46,
    "position": [
      157.10997,
      -136.381149,
      444.754333
    ],
    "rotation_matrix": [
      [
        0.9993046201737503,
        -0.03728634227129794,
        6.913338112608802e-05
      ],
      [
        -6.296257271056968e-05,
        0.0001666720263385213,
        0.9999999841280751
      ],
      [
        -0.03728635320209263,
        -0.9993046086656778,
        0.00016420848193748894
      ]
    ],
    "position_light": [
      377.208679,
      207.901825,
      222.311249
    ],
    "rotation_matrix_light": [
      [
        0.36156159879934907,
        0.49089541781524115,
        0.7926505529182822
      ],
      [
        0.4700721964842032,
        0.6382217711220872,
        -0.6096762263351778
      ],
      [
        -0.8051741056232343,
        0.5930384975984158,
        1.9665901301868516e-07
      ]
    ],
    "servo_angle": [
      [
        91.688373,
        -23.991347,
        -65.0966,
        228.293257,
        1.577525,
        -135.839355,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.932285,
        -28.438989,
        -26.890399,
        -217.16275,
        41.1335,
        66.57781,
        0.0
      ]
    ],
    "turn_angle": 1503.9439029011044,
    "filename": "scan-0461_light-46_camera-461.png"
  },
  {
    "id": 462,
    "scan_id": "0462",
    "camera_id": 462,
    "light_id": 46,
    "position": [
      186.407623,
      -136.381149,
      444.078094
    ],
    "rotation_matrix": [
      [
        0.9955106945749028,
        -0.09464909328661872,
        7.827525272430941e-05
      ],
      [
        -6.272353116953261e-05,
        0.00016728427969603388,
        0.999999984040864
      ],
      [
        -0.09464910487032024,
        -0.9955106835971126,
        0.00016059656411870904
      ]
    ],
    "position_light": [
      377.208679,
      207.901825,
      222.311249
    ],
    "rotation_matrix_light": [
      [
        0.36156159879934907,
        0.49089541781524115,
        0.7926505529182822
      ],
      [
        0.4700721964842032,
        0.6382217711220872,
        -0.6096762263351778
      ],
      [
        -0.8051741056232343,
        0.5930384975984158,
        1.9665901301868516e-07
      ]
    ],
    "servo_angle": [
      [
        89.83411,
        -23.390429,
        -67.948555,
        209.283434,
        -1.457605,
        -113.594956,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.932285,
        -28.438989,
        -26.890399,
        -217.16275,
        41.1335,
        66.57781,
        0.0
      ]
    ],
    "turn_angle": 1503.9439029011044,
    "filename": "scan-0462_light-46_camera-462.png"
  },
  {
    "id": 463,
    "scan_id": "0463",
    "camera_id": 463,
    "light_id": 46,
    "position": [
      226.258713,
      -136.381149,
      440.438049
    ],
    "rotation_matrix": [
      [
        0.9850188572345657,
        -0.17244663701751656,
        9.095965927932714e-05
      ],
      [
        -6.304241228774488e-05,
        0.00016736593658656096,
        0.9999999840071488
      ],
      [
        -0.1724466494831517,
        -0.9850188472156219,
        0.000153987151608026
      ]
    ],
    "position_light": [
      377.208679,
      207.901825,
      222.311249
    ],
    "rotation_matrix_light": [
      [
        0.36156159879934907,
        0.49089541781524115,
        0.7926505529182822
      ],
      [
        0.4700721964842032,
        0.6382217711220872,
        -0.6096762263351778
      ],
      [
        -0.8051741056232343,
        0.5930384975984158,
        1.9665901301868516e-07
      ]
    ],
    "servo_angle": [
      [
        90.66742,
        -23.207655,
        -68.732533,
        175.454001,
        -2.03761,
        -75.290321,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.932285,
        -28.438989,
        -26.890399,
        -217.16275,
        41.1335,
        66.57781,
        0.0
      ]
    ],
    "turn_angle": 1503.9439029011044,
    "filename": "scan-0463_light-46_camera-463.png"
  },
  {
    "id": 464,
    "scan_id": "0464",
    "camera_id": 464,
    "light_id": 46,
    "position": [
      262.286346,
      -136.381149,
      434.394989
    ],
    "rotation_matrix": [
      [
        0.9701395072401904,
        -0.24254757502230695,
        0.00010169837256820968
      ],
      [
        -6.3055247013874e-05,
        0.00016708468297726986,
        0.9999999840533721
      ],
      [
        -0.24254758814673139,
        -0.9701394981823527,
        0.00014680155475538248
      ]
    ],
    "position_light": [
      377.208679,
      207.901825,
      222.311249
    ],
    "rotation_matrix_light": [
      [
        0.36156159879934907,
        0.49089541781524115,
        0.7926505529182822
      ],
      [
        0.4700721964842032,
        0.6382217711220872,
        -0.6096762263351778
      ],
      [
        -0.8051741056232343,
        0.5930384975984158,
        1.9665901301868516e-07
      ]
    ],
    "servo_angle": [
      [
        89.924408,
        -24.02412,
        -65.025553,
        149.387057,
        0.908596,
        -45.055797,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.932285,
        -28.438989,
        -26.890399,
        -217.16275,
        41.1335,
        66.57781,
        0.0
      ]
    ],
    "turn_angle": 1503.9439029011044,
    "filename": "scan-0464_light-46_camera-464.png"
  },
  {
    "id": 465,
    "scan_id": "0465",
    "camera_id": 465,
    "light_id": 46,
    "position": [
      305.086639,
      -136.381149,
      423.679535
    ],
    "rotation_matrix": [
      [
        0.9455324259753854,
        -0.3255279075410026,
        0.00011331848519288701
      ],
      [
        -6.241303758539041e-05,
        0.00016682112745730615,
        0.9999999841376621
      ],
      [
        -0.32552792128128627,
        -0.9455324180495814,
        0.00013741759982016655
      ]
    ],
    "position_light": [
      377.208679,
      207.901825,
      222.311249
    ],
    "rotation_matrix_light": [
      [
        0.36156159879934907,
        0.49089541781524115,
        0.7926505529182822
      ],
      [
        0.4700721964842032,
        0.6382217711220872,
        -0.6096762263351778
      ],
      [
        -0.8051741056232343,
        0.5930384975984158,
        1.9665901301868516e-07
      ]
    ],
    "servo_angle": [
      [
        84.633028,
        -24.638675,
        -60.158563,
        131.833291,
        7.564017,
        -22.670909,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.932285,
        -28.438989,
        -26.890399,
        -217.16275,
        41.1335,
        66.57781,
        0.0
      ]
    ],
    "turn_angle": 1503.9439029011044,
    "filename": "scan-0465_light-46_camera-465.png"
  },
  {
    "id": 466,
    "scan_id": "0466",
    "camera_id": 466,
    "light_id": 46,
    "position": [
      325.965302,
      -136.381149,
      416.988953
    ],
    "rotation_matrix": [
      [
        0.9306602743537891,
        -0.365884461711258,
        0.00012007494967922194
      ],
      [
        -6.328306317293642e-05,
        0.00016721102213401728,
        0.999999984017864
      ],
      [
        -0.36588447594149776,
        -0.9306602670785605,
        0.0001324623662297686
      ]
    ],
    "position_light": [
      377.208679,
      207.901825,
      222.311249
    ],
    "rotation_matrix_light": [
      [
        0.36156159879934907,
        0.49089541781524115,
        0.7926505529182822
      ],
      [
        0.4700721964842032,
        0.6382217711220872,
        -0.6096762263351778
      ],
      [
        -0.8051741056232343,
        0.5930384975984158,
        1.9665901301868516e-07
      ]
    ],
    "servo_angle": [
      [
        81.089915,
        -24.456417,
        -58.429778,
        127.232555,
        11.49107,
        -15.849903,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.932285,
        -28.438989,
        -26.890399,
        -217.16275,
        41.1335,
        66.57781,
        0.0
      ]
    ],
    "turn_angle": 1503.9439029011044,
    "filename": "scan-0466_light-46_camera-466.png"
  },
  {
    "id": 467,
    "scan_id": "0467",
    "camera_id": 467,
    "light_id": 46,
    "position": [
      347.850464,
      -136.381149,
      408.888214
    ],
    "rotation_matrix": [
      [
        0.9129396341729108,
        -0.408094607312288,
        0.00012585253866451152
      ],
      [
        -6.298632133611148e-05,
        0.0001674852503965596,
        0.9999999839907071
      ],
      [
        -0.40809462185742584,
        -0.9129396274843812,
        0.00012719954515472143
      ]
    ],
    "position_light": [
      377.208679,
      207.901825,
      222.311249
    ],
    "rotation_matrix_light": [
      [
        0.36156159879934907,
        0.49089541781524115,
        0.7926505529182822
      ],
      [
        0.4700721964842032,
        0.6382217711220872,
        -0.6096762263351778
      ],
      [
        -0.8051741056232343,
        0.5930384975984158,
        1.9665901301868516e-07
      ]
    ],
    "servo_angle": [
      [
        77.128026,
        -23.873891,
        -57.057658,
        124.077792,
        15.817016,
        -10.468626,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.932285,
        -28.438989,
        -26.890399,
        -217.16275,
        41.1335,
        66.57781,
        0.0
      ]
    ],
    "turn_angle": 1503.9439029011044,
    "filename": "scan-0467_light-46_camera-467.png"
  },
  {
    "id": 468,
    "scan_id": "0468",
    "camera_id": 468,
    "light_id": 46,
    "position": [
      399.945923,
      -136.381149,
      384.759705
    ],
    "rotation_matrix": [
      [
        0.8612611831808511,
        -0.5081625280952529,
        0.00013923276231481152
      ],
      [
        -6.287820091227525e-05,
        0.00016742321928597814,
        0.9999999840078987
      ],
      [
        -0.5081625432794634,
        -0.8612611781621805,
        0.00011224277439658703
      ]
    ],
    "position_light": [
      377.208679,
      207.901825,
      222.311249
    ],
    "rotation_matrix_light": [
      [
        0.36156159879934907,
        0.49089541781524115,
        0.7926505529182822
      ],
      [
        0.4700721964842032,
        0.6382217711220872,
        -0.6096762263351778
      ],
      [
        -0.8051741056232343,
        0.5930384975984158,
        1.9665901301868516e-07
      ]
    ],
    "servo_angle": [
      [
        67.643569,
        -20.858529,
        -55.209411,
        120.422149,
        26.280944,
        -1.91895,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.932285,
        -28.438989,
        -26.890399,
        -217.16275,
        41.1335,
        66.57781,
        0.0
      ]
    ],
    "turn_angle": 1503.9439029011044,
    "filename": "scan-0468_light-46_camera-468.png"
  },
  {
    "id": 469,
    "scan_id": "0469",
    "camera_id": 469,
    "light_id": 46,
    "position": [
      406.376526,
      -136.381149,
      381.26947
    ],
    "rotation_matrix": [
      [
        0.8538790583447671,
        -0.5204714534887489,
        0.0001407961758808085
      ],
      [
        -6.31887242787954e-05,
        0.00016684996779869898,
        0.9999999840841365
      ],
      [
        -0.5204714686968337,
        -0.8538790536512753,
        0.00010958176621933546
      ]
    ],
    "position_light": [
      377.208679,
      207.901825,
      222.311249
    ],
    "rotation_matrix_light": [
      [
        0.36156159879934907,
        0.49089541781524115,
        0.7926505529182822
      ],
      [
        0.4700721964842032,
        0.6382217711220872,
        -0.6096762263351778
      ],
      [
        -0.8051741056232343,
        0.5930384975984158,
        1.9665901301868516e-07
      ]
    ],
    "servo_angle": [
      [
        66.513696,
        -20.328543,
        -55.09671,
        120.195946,
        27.552223,
        -1.127696,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.932285,
        -28.438989,
        -26.890399,
        -217.16275,
        41.1335,
        66.57781,
        0.0
      ]
    ],
    "turn_angle": 1503.9439029011044,
    "filename": "scan-0469_light-46_camera-469.png"
  },
  {
    "id": 470,
    "scan_id": "0470",
    "camera_id": 470,
    "light_id": 47,
    "position": [
      449.66745,
      -136.381149,
      354.464661
    ],
    "rotation_matrix": [
      [
        0.7976968037414081,
        -0.6030586924281769,
        0.00015095548748472742
      ],
      [
        -6.301294391891643e-05,
        0.0001669659394462064,
        0.9999999840758718
      ],
      [
        -0.6030587080294176,
        -0.7976968005509315,
        9.518769266414484e-05
      ]
    ],
    "position_light": [
      516.695618,
      198.02063,
      276.869019
    ],
    "rotation_matrix_light": [
      [
        0.45634372956372726,
        0.6357481695271092,
        0.6225549497279721
      ],
      [
        0.3630303744714978,
        0.5057505438869239,
        -0.7825760886771106
      ],
      [
        -0.812378820316576,
        0.583130047503137,
        1.9337324658197375e-07
      ]
    ],
    "servo_angle": [
      [
        59.31133,
        -15.866806,
        -54.914338,
        119.354729,
        35.847276,
        3.309003,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.41888,
        -11.590936,
        -52.527281,
        -166.933889,
        26.455467,
        24.24236,
        0.0
      ]
    ],
    "turn_angle": 1538.6530185017868,
    "filename": "scan-0470_light-47_camera-470.png"
  },
  {
    "id": 471,
    "scan_id": "0471",
    "camera_id": 471,
    "light_id": 47,
    "position": [
      468.090912,
      -136.381149,
      341.125336
    ],
    "rotation_matrix": [
      [
        0.7700013799062773,
        -0.6380422013759894,
        0.00015558184192832059
      ],
      [
        -6.313670084689971e-05,
        0.00016764799009588716,
        0.9999999839539537
      ],
      [
        -0.638042217220918,
        -0.770001377373724,
        8.880530411631282e-05
      ]
    ],
    "position_light": [
      516.695618,
      198.02063,
      276.869019
    ],
    "rotation_matrix_light": [
      [
        0.45634372956372726,
        0.6357481695271092,
        0.6225549497279721
      ],
      [
        0.3630303744714978,
        0.5057505438869239,
        -0.7825760886771106
      ],
      [
        -0.812378820316576,
        0.583130047503137,
        1.9337324658197375e-07
      ]
    ],
    "servo_angle": [
      [
        56.486649,
        -13.493901,
        -55.131603,
        119.235038,
        39.213804,
        4.860458,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.41888,
        -11.590936,
        -52.527281,
        -166.933889,
        26.455467,
        24.24236,
        0.0
      ]
    ],
    "turn_angle": 1538.6530185017868,
    "filename": "scan-0471_light-47_camera-471.png"
  },
  {
    "id": 472,
    "scan_id": "0472",
    "camera_id": 472,
    "light_id": 47,
    "position": [
      505.015137,
      -136.381149,
      310.263092
    ],
    "rotation_matrix": [
      [
        0.706403676283143,
        -0.7078091689286468,
        0.00016283180922449514
      ],
      [
        -6.286592809262581e-05,
        0.0001673093385966551,
        0.9999999840277296
      ],
      [
        -0.7078091848666099,
        -0.7064036752368457,
        7.369085154407262e-05
      ]
    ],
    "position_light": [
      516.695618,
      198.02063,
      276.869019
    ],
    "rotation_matrix_light": [
      [
        0.45634372956372726,
        0.6357481695271092,
        0.6225549497279721
      ],
      [
        0.3630303744714978,
        0.5057505438869239,
        -0.7825760886771106
      ],
      [
        -0.812378820316576,
        0.583130047503137,
        1.9337324658197375e-07
      ]
    ],
    "servo_angle": [
      [
        51.281957,
        -7.856741,
        -56.108726,
        119.219912,
        45.645829,
        7.618906,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.41888,
        -11.590936,
        -52.527281,
        -166.933889,
        26.455467,
        24.24236,
        0.0
      ]
    ],
    "turn_angle": 1538.6530185017868,
    "filename": "scan-0472_light-47_camera-472.png"
  },
  {
    "id": 473,
    "scan_id": "0473",
    "camera_id": 473,
    "light_id": 47,
    "position": [
      517.705139,
      -136.381149,
      298.187073
    ],
    "rotation_matrix": [
      [
        0.6816668050556876,
        -0.7316627226864727,
        0.0001646699402164109
      ],
      [
        -6.271082739645051e-05,
        0.00016663695507806997,
        0.9999999841497387
      ],
      [
        -0.7316627385295247,
        -0.6816668045776786,
        6.770770605740717e-05
      ]
    ],
    "position_light": [
      516.695618,
      198.02063,
      276.869019
    ],
    "rotation_matrix_light": [
      [
        0.45634372956372726,
        0.6357481695271092,
        0.6225549497279721
      ],
      [
        0.3630303744714978,
        0.5057505438869239,
        -0.7825760886771106
      ],
      [
        -0.812378820316576,
        0.583130047503137,
        1.9337324658197375e-07
      ]
    ],
    "servo_angle": [
      [
        49.631953,
        -5.632863,
        -56.622153,
        119.257555,
        47.762335,
        8.501376,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.41888,
        -11.590936,
        -52.527281,
        -166.933889,
        26.455467,
        24.24236,
        0.0
      ]
    ],
    "turn_angle": 1538.6530185017868,
    "filename": "scan-0473_light-47_camera-473.png"
  },
  {
    "id": 474,
    "scan_id": "0474",
    "camera_id": 474,
    "light_id": 47,
    "position": [
      544.369141,
      -136.381149,
      269.840546
    ],
    "rotation_matrix": [
      [
        0.6238641528061349,
        -0.7815327823778654,
        0.00017003586507474688
      ],
      [
        -6.301165452760049e-05,
        0.0001672676474196999,
        0.9999999840255326
      ],
      [
        -0.7815327983347946,
        -0.6238641535544786,
        5.51066154642621e-05
      ]
    ],
    "position_light": [
      516.695618,
      198.02063,
      276.869019
    ],
    "rotation_matrix_light": [
      [
        0.45634372956372726,
        0.6357481695271092,
        0.6225549497279721
      ],
      [
        0.3630303744714978,
        0.5057505438869239,
        -0.7825760886771106
      ],
      [
        -0.812378820316576,
        0.583130047503137,
        1.9337324658197375e-07
      ]
    ],
    "servo_angle": [
      [
        46.385632,
        -0.430864,
        -58.034322,
        119.376387,
        52.068456,
        10.320689,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.41888,
        -11.590936,
        -52.527281,
        -166.933889,
        26.455467,
        24.24236,
        0.0
      ]
    ],
    "turn_angle": 1538.6530185017868,
    "filename": "scan-0474_light-47_camera-474.png"
  },
  {
    "id": 475,
    "scan_id": "0475",
    "camera_id": 475,
    "light_id": 47,
    "position": [
      560.523926,
      -136.381149,
      250.338531
    ],
    "rotation_matrix": [
      [
        0.5842814047369412,
        -0.8115511138336544,
        0.0001723774405633649
      ],
      [
        -6.310296111328162e-05,
        0.0001669735260602101,
        0.9999999840689291
      ],
      [
        -0.8115511296872451,
        -0.5842814063062396,
        4.634824798266379e-05
      ]
    ],
    "position_light": [
      516.695618,
      198.02063,
      276.869019
    ],
    "rotation_matrix_light": [
      [
        0.45634372956372726,
        0.6357481695271092,
        0.6225549497279721
      ],
      [
        0.3630303744714978,
        0.5057505438869239,
        -0.7825760886771106
      ],
      [
        -0.812378820316576,
        0.583130047503137,
        1.9337324658197375e-07
      ]
    ],
    "servo_angle": [
      [
        44.556865,
        3.112364,
        -59.139042,
        119.465654,
        54.596976,
        11.437498,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.41888,
        -11.590936,
        -52.527281,
        -166.933889,
        26.455467,
        24.24236,
        0.0
      ]
    ],
    "turn_angle": 1538.6530185017868,
    "filename": "scan-0475_light-47_camera-475.png"
  },
  {
    "id": 476,
    "scan_id": "0476",
    "camera_id": 476,
    "light_id": 47,
    "position": [
      582.4552,
      -136.381149,
      220.288315
    ],
    "rotation_matrix": [
      [
        0.5235380679163253,
        -0.852002265775341,
        0.00017480310834117052
      ],
      [
        -6.282005873359253e-05,
        0.00016656576994711347,
        0.9999999841547423
      ],
      [
        -0.8520022813913597,
        -0.5235380706018712,
        3.3680689002002495e-05
      ]
    ],
    "position_light": [
      516.695618,
      198.02063,
      276.869019
    ],
    "rotation_matrix_light": [
      [
        0.45634372956372726,
        0.6357481695271092,
        0.6225549497279721
      ],
      [
        0.3630303744714978,
        0.5057505438869239,
        -0.7825760886771106
      ],
      [
        -0.812378820316576,
        0.583130047503137,
        1.9337324658197375e-07
      ]
    ],
    "servo_angle": [
      [
        42.228708,
        8.492896,
        -61.004936,
        119.601788,
        57.958291,
        13.034389,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.41888,
        -11.590936,
        -52.527281,
        -166.933889,
        26.455467,
        24.24236,
        0.0
      ]
    ],
    "turn_angle": 1538.6530185017868,
    "filename": "scan-0476_light-47_camera-476.png"
  },
  {
    "id": 477,
    "scan_id": "0477",
    "camera_id": 477,
    "light_id": 47,
    "position": [
      603.209167,
      -136.381149,
      186.840118
    ],
    "rotation_matrix": [
      [
        0.45623477056510164,
        -0.889859428583102,
        0.00017745186502660104
      ],
      [
        -6.29618513687813e-05,
        0.0001671347986047511,
        0.9999999840508821
      ],
      [
        -0.8898594440490107,
        -0.4562347744612575,
        2.022550941332968e-05
      ]
    ],
    "position_light": [
      516.695618,
      198.02063,
      276.869019
    ],
    "rotation_matrix_light": [
      [
        0.45634372956372726,
        0.6357481695271092,
        0.6225549497279721
      ],
      [
        0.3630303744714978,
        0.5057505438869239,
        -0.7825760886771106
      ],
      [
        -0.812378820316576,
        0.583130047503137,
        1.9337324658197375e-07
      ]
    ],
    "servo_angle": [
      [
        40.175801,
        14.357406,
        -63.267604,
        119.748867,
        61.102568,
        14.716822,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.41888,
        -11.590936,
        -52.527281,
        -166.933889,
        26.455467,
        24.24236,
        0.0
      ]
    ],
    "turn_angle": 1538.6530185017868,
    "filename": "scan-0477_light-47_camera-477.png"
  },
  {
    "id": 478,
    "scan_id": "0478",
    "camera_id": 478,
    "light_id": 47,
    "position": [
      623.350708,
      -136.381149,
      147.51799
    ],
    "rotation_matrix": [
      [
        0.3774706182510243,
        -0.9260215441305926,
        0.00017934096548599676
      ],
      [
        -6.30349903552041e-05,
        0.00016797352805097976,
        0.9999999839057415
      ],
      [
        -0.9260215593514974,
        -0.37747062348067073,
        5.0333123801649116e-06
      ]
    ],
    "position_light": [
      516.695618,
      198.02063,
      276.869019
    ],
    "rotation_matrix_light": [
      [
        0.45634372956372726,
        0.6357481695271092,
        0.6225549497279721
      ],
      [
        0.3630303744714978,
        0.5057505438869239,
        -0.7825760886771106
      ],
      [
        -0.812378820316576,
        0.583130047503137,
        1.9337324658197375e-07
      ]
    ],
    "servo_angle": [
      [
        38.30687,
        21.08542,
        -66.127351,
        119.923103,
        64.188118,
        16.649294,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.41888,
        -11.590936,
        -52.527281,
        -166.933889,
        26.455467,
        24.24236,
        0.0
      ]
    ],
    "turn_angle": 1538.6530185017868,
    "filename": "scan-0478_light-47_camera-478.png"
  },
  {
    "id": 479,
    "scan_id": "0479",
    "camera_id": 479,
    "light_id": 47,
    "position": [
      636.037598,
      -136.381149,
      117.335037
    ],
    "rotation_matrix": [
      [
        0.3172471997979005,
        -0.9483428612005924,
        0.0001784103832314643
      ],
      [
        -6.281735861407567e-05,
        0.00016711440108124753,
        0.999999984063378
      ],
      [
        -0.948342875902155,
        -0.3172472059493208,
        -6.555817812226028e-06
      ]
    ],
    "position_light": [
      516.695618,
      198.02063,
      276.869019
    ],
    "rotation_matrix_light": [
      [
        0.45634372956372726,
        0.6357481695271092,
        0.6225549497279721
      ],
      [
        0.3630303744714978,
        0.5057505438869239,
        -0.7825760886771106
      ],
      [
        -0.812378820316576,
        0.583130047503137,
        1.9337324658197375e-07
      ]
    ],
    "servo_angle": [
      [
        37.182325,
        26.137418,
        -68.445997,
        120.065884,
        66.207737,
        18.136349,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -45.41888,
        -11.590936,
        -52.527281,
        -166.933889,
        26.455467,
        24.24236,
        0.0
      ]
    ],
    "turn_angle": 1538.6530185017868,
    "filename": "scan-0479_light-47_camera-479.png"
  },
  {
    "id": 480,
    "scan_id": "0480",
    "camera_id": 480,
    "light_id": 48,
    "position": [
      628.57843,
      -136.381149,
      135.72879
    ],
    "rotation_matrix": [
      [
        0.3539249046729209,
        -0.935273826065327,
        0.00017924672365438044
      ],
      [
        -6.300080340232439e-05,
        0.00016781092666379172,
        0.9999999839351955
      ],
      [
        -0.9352738411198949,
        -0.35392491027987416,
        4.694637792401757e-07
      ]
    ],
    "position_light": [
      572.086914,
      185.846085,
      490.65155
    ],
    "rotation_matrix_light": [
      [
        0.611226703971364,
        0.5653541043690634,
        0.5538742213042205
      ],
      [
        0.40660870294502494,
        0.37609309447898703,
        -0.8326003524948714
      ],
      [
        -0.679022296424548,
        0.734117647900031,
        2.4344263088726947e-07
      ]
    ],
    "servo_angle": [
      [
        37.839164,
        23.06963,
        -67.021051,
        119.977477,
        65.008937,
        17.228383,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.817494,
        -4.540691,
        -84.769621,
        -97.661057,
        7.237374,
        -35.100999,
        0.0
      ]
    ],
    "turn_angle": 1557.5539926209042,
    "filename": "scan-0480_light-48_camera-480.png"
  },
  {
    "id": 481,
    "scan_id": "0481",
    "camera_id": 481,
    "light_id": 48,
    "position": [
      621.294434,
      -136.381149,
      151.945251
    ],
    "rotation_matrix": [
      [
        0.3863207522642266,
        -0.9223644856213182,
        0.00017898190724546792
      ],
      [
        -6.296885334339253e-05,
        0.00016767311837423415,
        0.9999999839603244
      ],
      [
        -0.9223645008373456,
        -0.3863207573380525,
        6.6953712006267985e-06
      ]
    ],
    "position_light": [
      572.086914,
      185.846085,
      490.65155
    ],
    "rotation_matrix_light": [
      [
        0.611226703971364,
        0.5653541043690634,
        0.5538742213042205
      ],
      [
        0.40660870294502494,
        0.37609309447898703,
        -0.8326003524948714
      ],
      [
        -0.679022296424548,
        0.734117647900031,
        2.4344263088726947e-07
      ]
    ],
    "servo_angle": [
      [
        38.49268,
        20.336507,
        -65.795838,
        119.902992,
        63.868465,
        16.4322,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.817494,
        -4.540691,
        -84.769621,
        -97.661057,
        7.237374,
        -35.100999,
        0.0
      ]
    ],
    "turn_angle": 1557.5539926209042,
    "filename": "scan-0481_light-48_camera-481.png"
  },
  {
    "id": 482,
    "scan_id": "0482",
    "camera_id": 482,
    "light_id": 48,
    "position": [
      597.558472,
      -136.381149,
      196.534805
    ],
    "rotation_matrix": [
      [
        0.4757111299523896,
        -0.8796015515320224,
        0.0001771493160506732
      ],
      [
        -6.27935133670765e-05,
        0.0001674368806696136,
        0.9999999840109328
      ],
      [
        -0.8796015671293429,
        -0.4757111334700403,
        2.4418315915208932e-05
      ]
    ],
    "position_light": [
      572.086914,
      185.846085,
      490.65155
    ],
    "rotation_matrix_light": [
      [
        0.611226703971364,
        0.5653541043690634,
        0.5538742213042205
      ],
      [
        0.40660870294502494,
        0.37609309447898703,
        -0.8326003524948714
      ],
      [
        -0.679022296424548,
        0.734117647900031,
        2.4344263088726947e-07
      ]
    ],
    "servo_angle": [
      [
        40.721199,
        12.671305,
        -62.594149,
        119.706525,
        60.246684,
        14.235366,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.817494,
        -4.540691,
        -84.769621,
        -97.661057,
        7.237374,
        -35.100999,
        0.0
      ]
    ],
    "turn_angle": 1557.5539926209042,
    "filename": "scan-0482_light-48_camera-482.png"
  },
  {
    "id": 483,
    "scan_id": "0483",
    "camera_id": 483,
    "light_id": 48,
    "position": [
      582.214539,
      -136.381149,
      220.644379
    ],
    "rotation_matrix": [
      [
        0.5242561146384943,
        -0.8515606234561999,
        0.00017562186083897036
      ],
      [
        -6.290621815535635e-05,
        0.00016750761435152528,
        0.9999999839920033
      ],
      [
        -0.8515606392424192,
        -0.5242561172939113,
        3.424843272065159e-05
      ]
    ],
    "position_light": [
      572.086914,
      185.846085,
      490.65155
    ],
    "rotation_matrix_light": [
      [
        0.611226703971364,
        0.5653541043690634,
        0.5538742213042205
      ],
      [
        0.40660870294502494,
        0.37609309447898703,
        -0.8326003524948714
      ],
      [
        -0.679022296424548,
        0.734117647900031,
        2.4344263088726947e-07
      ]
    ],
    "servo_angle": [
      [
        42.253346,
        8.429756,
        -60.981789,
        119.600184,
        57.921679,
        13.016054,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.817494,
        -4.540691,
        -84.769621,
        -97.661057,
        7.237374,
        -35.100999,
        0.0
      ]
    ],
    "turn_angle": 1557.5539926209042,
    "filename": "scan-0483_light-48_camera-483.png"
  },
  {
    "id": 484,
    "scan_id": "0484",
    "camera_id": 484,
    "light_id": 48,
    "position": [
      560.713013,
      -136.381149,
      250.098297
    ],
    "rotation_matrix": [
      [
        0.5837943755481212,
        -0.811901531809624,
        0.00017240523754469272
      ],
      [
        -6.305036148612775e-05,
        0.00016701137154334633,
        0.999999984065927
      ],
      [
        -0.8119015476663607,
        -0.5837943771161114,
        4.630961428780944e-05
      ]
    ],
    "position_light": [
      572.086914,
      185.846085,
      490.65155
    ],
    "rotation_matrix_light": [
      [
        0.611226703971364,
        0.5653541043690634,
        0.5538742213042205
      ],
      [
        0.40660870294502494,
        0.37609309447898703,
        -0.8326003524948714
      ],
      [
        -0.679022296424548,
        0.734117647900031,
        2.4344263088726947e-07
      ]
    ],
    "servo_angle": [
      [
        44.536009,
        3.155737,
        -59.153194,
        119.466742,
        54.626255,
        11.450733,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.817494,
        -4.540691,
        -84.769621,
        -97.661057,
        7.237374,
        -35.100999,
        0.0
      ]
    ],
    "turn_angle": 1557.5539926209042,
    "filename": "scan-0484_light-48_camera-484.png"
  },
  {
    "id": 485,
    "scan_id": "0485",
    "camera_id": 485,
    "light_id": 48,
    "position": [
      556.289124,
      -136.381149,
      255.644287
    ],
    "rotation_matrix": [
      [
        0.5950367050309298,
        -0.803698506920874,
        0.00017216007808507072
      ],
      [
        -6.307022880053248e-05,
        0.00016751427685479658,
        0.9999999839805567
      ],
      [
        -0.803698522885342,
        -0.5950367063569484,
        4.898769462724495e-05
      ]
    ],
    "position_light": [
      572.086914,
      185.846085,
      490.65155
    ],
    "rotation_matrix_light": [
      [
        0.611226703971364,
        0.5653541043690634,
        0.5538742213042205
      ],
      [
        0.40660870294502494,
        0.37609309447898703,
        -0.8326003524948714
      ],
      [
        -0.679022296424548,
        0.734117647900031,
        2.4344263088726947e-07
      ]
    ],
    "servo_angle": [
      [
        45.026576,
        2.152029,
        -58.829301,
        119.441246,
        53.939221,
        11.141565,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.817494,
        -4.540691,
        -84.769621,
        -97.661057,
        7.237374,
        -35.100999,
        0.0
      ]
    ],
    "turn_angle": 1557.5539926209042,
    "filename": "scan-0485_light-48_camera-485.png"
  },
  {
    "id": 486,
    "scan_id": "0486",
    "camera_id": 486,
    "light_id": 48,
    "position": [
      532.86377,
      -136.381149,
      282.60672
    ],
    "rotation_matrix": [
      [
        0.6498539968892927,
        -0.7600590467354773,
        0.00016793620458532832
      ],
      [
        -6.303934699442015e-05,
        0.00016705258735905115,
        0.9999999840597369
      ],
      [
        -0.7600590626741136,
        -0.6498539971170376,
        6.064616560252922e-05
      ]
    ],
    "position_light": [
      572.086914,
      185.846085,
      490.65155
    ],
    "rotation_matrix_light": [
      [
        0.611226703971364,
        0.5653541043690634,
        0.5538742213042205
      ],
      [
        0.40660870294502494,
        0.37609309447898703,
        -0.8326003524948714
      ],
      [
        -0.679022296424548,
        0.734117647900031,
        2.4344263088726947e-07
      ]
    ],
    "servo_angle": [
      [
        47.750589,
        -2.767959,
        -57.366425,
        119.319836,
        50.23247,
        9.53694,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.817494,
        -4.540691,
        -84.769621,
        -97.661057,
        7.237374,
        -35.100999,
        0.0
      ]
    ],
    "turn_angle": 1557.5539926209042,
    "filename": "scan-0486_light-48_camera-486.png"
  },
  {
    "id": 487,
    "scan_id": "0487",
    "camera_id": 487,
    "light_id": 48,
    "position": [
      500.285522,
      -136.381149,
      314.557068
    ],
    "rotation_matrix": [
      [
        0.7152175471102907,
        -0.698901877366232,
        0.0001616152698447615
      ],
      [
        -6.293878733276692e-05,
        0.00016683363710601196,
        0.9999999841026231
      ],
      [
        -0.6989018932183888,
        -0.715217545912077,
        7.5334308080377e-05
      ]
    ],
    "position_light": [
      572.086914,
      185.846085,
      490.65155
    ],
    "rotation_matrix_light": [
      [
        0.611226703971364,
        0.5653541043690634,
        0.5538742213042205
      ],
      [
        0.40660870294502494,
        0.37609309447898703,
        -0.8326003524948714
      ],
      [
        -0.679022296424548,
        0.734117647900031,
        2.4344263088726947e-07
      ]
    ],
    "servo_angle": [
      [
        51.914789,
        -8.64685,
        -55.941536,
        119.210229,
        44.845063,
        7.283898,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.817494,
        -4.540691,
        -84.769621,
        -97.661057,
        7.237374,
        -35.100999,
        0.0
      ]
    ],
    "turn_angle": 1557.5539926209042,
    "filename": "scan-0487_light-48_camera-487.png"
  },
  {
    "id": 488,
    "scan_id": "0488",
    "camera_id": 488,
    "light_id": 48,
    "position": [
      469.686249,
      -136.381149,
      339.910187
    ],
    "rotation_matrix": [
      [
        0.7674853765817753,
        -0.6410664338590253,
        0.0001552816849881289
      ],
      [
        -6.293039972399272e-05,
        0.00016688367279465988,
        0.9999999840948017
      ],
      [
        -0.6410664495767148,
        -0.7674853741467071,
        8.773821152768813e-05
      ]
    ],
    "position_light": [
      572.086914,
      185.846085,
      490.65155
    ],
    "rotation_matrix_light": [
      [
        0.611226703971364,
        0.5653541043690634,
        0.5538742213042205
      ],
      [
        0.40660870294502494,
        0.37609309447898703,
        -0.8326003524948714
      ],
      [
        -0.679022296424548,
        0.734117647900031,
        2.4344263088726947e-07
      ]
    ],
    "servo_angle": [
      [
        56.249158,
        -13.274974,
        -55.158647,
        119.229079,
        39.500398,
        4.988113,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.817494,
        -4.540691,
        -84.769621,
        -97.661057,
        7.237374,
        -35.100999,
        0.0
      ]
    ],
    "turn_angle": 1557.5539926209042,
    "filename": "scan-0488_light-48_camera-488.png"
  },
  {
    "id": 489,
    "scan_id": "0489",
    "camera_id": 489,
    "light_id": 48,
    "position": [
      452.523224,
      -136.381149,
      352.478149
    ],
    "rotation_matrix": [
      [
        0.7935629942196452,
        -0.6084880864936877,
        0.00015099802020662745
      ],
      [
        -6.26863994142024e-05,
        0.0001663999891714507,
        0.9999999841907294
      ],
      [
        -0.6084881020000037,
        -0.7935629911395152,
        9.390494641625668e-05
      ]
    ],
    "position_light": [
      572.086914,
      185.846085,
      490.65155
    ],
    "rotation_matrix_light": [
      [
        0.611226703971364,
        0.5653541043690634,
        0.5538742213042205
      ],
      [
        0.40660870294502494,
        0.37609309447898703,
        -0.8326003524948714
      ],
      [
        -0.679022296424548,
        0.734117647900031,
        2.4344263088726947e-07
      ]
    ],
    "servo_angle": [
      [
        58.863621,
        -15.517702,
        -54.936511,
        119.329404,
        36.375944,
        3.559729,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.817494,
        -4.540691,
        -84.769621,
        -97.661057,
        7.237374,
        -35.100999,
        0.0
      ]
    ],
    "turn_angle": 1557.5539926209042,
    "filename": "scan-0489_light-48_camera-489.png"
  },
  {
    "id": 490,
    "scan_id": "0490",
    "camera_id": 490,
    "light_id": 49,
    "position": [
      411.749725,
      -136.381149,
      378.260529
    ],
    "rotation_matrix": [
      [
        0.8475290870862333,
        -0.5307489298137934,
        0.00014157785378537957
      ],
      [
        -6.271881395703005e-05,
        0.00016659823023479348,
        0.9999999841556897
      ],
      [
        -0.5307489449910627,
        -0.8475290825373147,
        0.000107908902594267
      ]
    ],
    "position_light": [
      305.750763,
      208.091187,
      239.587814
    ],
    "rotation_matrix_light": [
      [
        0.3100459973790308,
        0.361656310284107,
        0.8792475150609911
      ],
      [
        0.5722647388915155,
        0.6675247271542831,
        -0.4763652036610416
      ],
      [
        -0.759199939495959,
        0.6508574743131447,
        2.158325117518345e-07
      ]
    ],
    "servo_angle": [
      [
        65.580291,
        -19.85929,
        -55.020106,
        120.031793,
        28.60784,
        -0.497843,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.78628,
        -36.926901,
        -21.013743,
        -245.772939,
        57.492132,
        91.564328,
        0.0
      ]
    ],
    "turn_angle": 1601.657069516292,
    "filename": "scan-0490_light-49_camera-490.png"
  },
  {
    "id": 491,
    "scan_id": "0491",
    "camera_id": 491,
    "light_id": 49,
    "position": [
      389.62674,
      -136.381149,
      390.114685
    ],
    "rotation_matrix": [
      [
        0.872625856179083,
        -0.48838928796248704,
        0.00013612941689669644
      ],
      [
        -6.282455171302548e-05,
        0.00016648007750769134,
        0.99999998416873
      ],
      [
        -0.4883893028935,
        -0.8726258509165766,
        0.00011459198209423649
      ]
    ],
    "position_light": [
      305.750763,
      208.091187,
      239.587814
    ],
    "rotation_matrix_light": [
      [
        0.3100459973790308,
        0.361656310284107,
        0.8792475150609911
      ],
      [
        0.5722647388915155,
        0.6675247271542831,
        -0.4763652036610416
      ],
      [
        -0.759199939495959,
        0.6508574743131447,
        2.158325117518345e-07
      ]
    ],
    "servo_angle": [
      [
        69.48305,
        -21.636892,
        -55.439339,
        120.862754,
        24.225171,
        -3.284022,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.78628,
        -36.926901,
        -21.013743,
        -245.772939,
        57.492132,
        91.564328,
        0.0
      ]
    ],
    "turn_angle": 1601.657069516292,
    "filename": "scan-0491_light-49_camera-491.png"
  },
  {
    "id": 492,
    "scan_id": "0492",
    "camera_id": 492,
    "light_id": 49,
    "position": [
      365.751678,
      -136.381149,
      401.394745
    ],
    "rotation_matrix": [
      [
        0.8967452935286596,
        -0.4425470161989339,
        0.00013033655990729587
      ],
      [
        -6.277679453503549e-05,
        0.00016730824087374252,
        0.9999999840335132
      ],
      [
        -0.44254703093939335,
        -0.8967452873928992,
        0.00012225119446407362
      ]
    ],
    "position_light": [
      305.750763,
      208.091187,
      239.587814
    ],
    "rotation_matrix_light": [
      [
        0.3100459973790308,
        0.361656310284107,
        0.8792475150609911
      ],
      [
        0.5722647388915155,
        0.6675247271542831,
        -0.4763652036610416
      ],
      [
        -0.759199939495959,
        0.6508574743131447,
        2.158325117518345e-07
      ]
    ],
    "servo_angle": [
      [
        73.832258,
        -23.0957,
        -56.219364,
        122.355882,
        19.421149,
        -7.000857,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.78628,
        -36.926901,
        -21.013743,
        -245.772939,
        57.492132,
        91.564328,
        0.0
      ]
    ],
    "turn_angle": 1601.657069516292,
    "filename": "scan-0492_light-49_camera-492.png"
  },
  {
    "id": 493,
    "scan_id": "0493",
    "camera_id": 493,
    "light_id": 49,
    "position": [
      334.839691,
      -136.381149,
      413.841217
    ],
    "rotation_matrix": [
      [
        0.9237432652603552,
        -0.3830122256163743,
        0.0001221250519119199
      ],
      [
        -6.281272019653672e-05,
        0.0001673633853414569,
        0.9999999840220295
      ],
      [
        -0.3830122399358784,
        -0.9237432581718195,
        0.00013054276030083356
      ]
    ],
    "position_light": [
      305.750763,
      208.091187,
      239.587814
    ],
    "rotation_matrix_light": [
      [
        0.3100459973790308,
        0.361656310284107,
        0.8792475150609911
      ],
      [
        0.5722647388915155,
        0.6675247271542831,
        -0.4763652036610416
      ],
      [
        -0.759199939495959,
        0.6508574743131447,
        2.158325117518345e-07
      ]
    ],
    "servo_angle": [
      [
        79.501504,
        -24.26906,
        -57.823302,
        125.784977,
        13.227877,
        -13.487197,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.78628,
        -36.926901,
        -21.013743,
        -245.772939,
        57.492132,
        91.564328,
        0.0
      ]
    ],
    "turn_angle": 1601.657069516292,
    "filename": "scan-0493_light-49_camera-493.png"
  },
  {
    "id": 494,
    "scan_id": "0494",
    "camera_id": 494,
    "light_id": 49,
    "position": [
      294.272797,
      -136.381149,
      426.760742
    ],
    "rotation_matrix": [
      [
        0.9524823246639482,
        -0.3045938426413564,
        0.00011057908429765173
      ],
      [
        -6.287178894720524e-05,
        0.00016643414198969086,
        0.9999999841734073
      ],
      [
        -0.3045938562248087,
        -0.9524823165417031,
        0.000139375218676685
      ]
    ],
    "position_light": [
      305.750763,
      208.091187,
      239.587814
    ],
    "rotation_matrix_light": [
      [
        0.3100459973790308,
        0.361656310284107,
        0.8792475150609911
      ],
      [
        0.5722647388915155,
        0.6675247271542831,
        -0.4763652036610416
      ],
      [
        -0.759199939495959,
        0.6508574743131447,
        2.158325117518345e-07
      ]
    ],
    "servo_angle": [
      [
        86.293517,
        -24.595932,
        -61.233145,
        135.064945,
        5.661167,
        -27.089903,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.78628,
        -36.926901,
        -21.013743,
        -245.772939,
        57.492132,
        91.564328,
        0.0
      ]
    ],
    "turn_angle": 1601.657069516292,
    "filename": "scan-0494_light-49_camera-494.png"
  },
  {
    "id": 495,
    "scan_id": "0495",
    "camera_id": 495,
    "light_id": 49,
    "position": [
      255.813248,
      -136.381149,
      435.677185
    ],
    "rotation_matrix": [
      [
        0.9731979151402779,
        -0.2299691456718827,
        0.00010002779974800646
      ],
      [
        -6.325403148164932e-05,
        0.0001672794255674348,
        0.9999999840082604
      ],
      [
        -0.2299691587268689,
        -0.973197905904312,
        0.00014824951262787378
      ]
    ],
    "position_light": [
      305.750763,
      208.091187,
      239.587814
    ],
    "rotation_matrix_light": [
      [
        0.3100459973790308,
        0.361656310284107,
        0.8792475150609911
      ],
      [
        0.5722647388915155,
        0.6675247271542831,
        -0.4763652036610416
      ],
      [
        -0.759199939495959,
        0.6508574743131447,
        2.158325117518345e-07
      ]
    ],
    "servo_angle": [
      [
        90.336709,
        -23.858306,
        -65.834283,
        153.311531,
        0.162319,
        -49.733195,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.78628,
        -36.926901,
        -21.013743,
        -245.772939,
        57.492132,
        91.564328,
        0.0
      ]
    ],
    "turn_angle": 1601.657069516292,
    "filename": "scan-0495_light-49_camera-495.png"
  },
  {
    "id": 496,
    "scan_id": "0496",
    "camera_id": 496,
    "light_id": 49,
    "position": [
      243.400696,
      -136.381149,
      437.893768
    ],
    "rotation_matrix": [
      [
        0.9785881307943078,
        -0.20582823211778947,
        9.556028594878696e-05
      ],
      [
        -6.263083792593105e-05,
        0.0001665004332405684,
        0.9999999841774918
      ],
      [
        -0.2058282447718996,
        -0.9785881212956098,
        0.00015004415309499697
      ]
    ],
    "position_light": [
      305.750763,
      208.091187,
      239.587814
    ],
    "rotation_matrix_light": [
      [
        0.3100459973790308,
        0.361656310284107,
        0.8792475150609911
      ],
      [
        0.5722647388915155,
        0.6675247271542831,
        -0.4763652036610416
      ],
      [
        -0.759199939495959,
        0.6508574743131447,
        2.158325117518345e-07
      ]
    ],
    "servo_angle": [
      [
        90.769234,
        -23.542377,
        -67.280772,
        161.835653,
        -1.014823,
        -59.701114,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.78628,
        -36.926901,
        -21.013743,
        -245.772939,
        57.492132,
        91.564328,
        0.0
      ]
    ],
    "turn_angle": 1601.657069516292,
    "filename": "scan-0496_light-49_camera-496.png"
  },
  {
    "id": 497,
    "scan_id": "0497",
    "camera_id": 497,
    "light_id": 49,
    "position": [
      209.64122,
      -136.381149,
      442.339691
    ],
    "rotation_matrix": [
      [
        0.9901460989060926,
        -0.14003819263132905,
        8.617190552925869e-05
      ],
      [
        -6.337056202923574e-05,
        0.0001672814318126048,
        0.9999999840005471
      ],
      [
        -0.14003820480575432,
        -0.9901460885250588,
        0.00015675875815607254
      ]
    ],
    "position_light": [
      305.750763,
      208.091187,
      239.587814
    ],
    "rotation_matrix_light": [
      [
        0.3100459973790308,
        0.361656310284107,
        0.8792475150609911
      ],
      [
        0.5722647388915155,
        0.6675247271542831,
        -0.4763652036610416
      ],
      [
        -0.759199939495959,
        0.6508574743131447,
        2.158325117518345e-07
      ]
    ],
    "servo_angle": [
      [
        90.145455,
        -23.110711,
        -69.141567,
        189.820402,
        -2.31177,
        -91.532471,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.78628,
        -36.926901,
        -21.013743,
        -245.772939,
        57.492132,
        91.564328,
        0.0
      ]
    ],
    "turn_angle": 1601.657069516292,
    "filename": "scan-0497_light-49_camera-497.png"
  },
  {
    "id": 498,
    "scan_id": "0498",
    "camera_id": 498,
    "light_id": 49,
    "position": [
      170.455444,
      -136.381149,
      444.655243
    ],
    "rotation_matrix": [
      [
        0.9979860729663435,
        -0.06343337278219485,
        7.336682717749843e-05
      ],
      [
        -6.287949581614688e-05,
        0.0001673246185757704,
        0.9999999840243203
      ],
      [
        -0.06343338404487998,
        -0.9979860616361067,
        0.0001629989805044807
      ]
    ],
    "position_light": [
      305.750763,
      208.091187,
      239.587814
    ],
    "rotation_matrix_light": [
      [
        0.3100459973790308,
        0.361656310284107,
        0.8792475150609911
      ],
      [
        0.5722647388915155,
        0.6675247271542831,
        -0.4763652036610416
      ],
      [
        -0.759199939495959,
        0.6508574743131447,
        2.158325117518345e-07
      ]
    ],
    "servo_angle": [
      [
        90.497996,
        -23.730193,
        -66.422367,
        220.613045,
        -0.050077,
        -126.698616,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.78628,
        -36.926901,
        -21.013743,
        -245.772939,
        57.492132,
        91.564328,
        0.0
      ]
    ],
    "turn_angle": 1601.657069516292,
    "filename": "scan-0498_light-49_camera-498.png"
  },
  {
    "id": 499,
    "scan_id": "0499",
    "camera_id": 499,
    "light_id": 49,
    "position": [
      139.784012,
      -136.381149,
      444.361511
    ],
    "rotation_matrix": [
      [
        0.9999945662056563,
        -0.0032959854327805345,
        6.355460768590372e-05
      ],
      [
        -6.300604371662537e-05,
        0.0001665375454086293,
        0.9999999841477422
      ],
      [
        -0.003295995964760087,
        -0.9999945543578089,
        0.00016632897347568232
      ]
    ],
    "position_light": [
      305.750763,
      208.091187,
      239.587814
    ],
    "rotation_matrix_light": [
      [
        0.3100459973790308,
        0.361656310284107,
        0.8792475150609911
      ],
      [
        0.5722647388915155,
        0.6675247271542831,
        -0.4763652036610416
      ],
      [
        -0.759199939495959,
        0.6508574743131447,
        2.158325117518345e-07
      ]
    ],
    "servo_angle": [
      [
        93.929612,
        -24.195148,
        -63.612697,
        235.870853,
        4.163856,
        -145.263422,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.78628,
        -36.926901,
        -21.013743,
        -245.772939,
        57.492132,
        91.564328,
        0.0
      ]
    ],
    "turn_angle": 1601.657069516292,
    "filename": "scan-0499_light-49_camera-499.png"
  },
  {
    "id": 500,
    "scan_id": "0500",
    "camera_id": 500,
    "light_id": 50,
    "position": [
      381.916199,
      -136.381149,
      393.923767
    ],
    "rotation_matrix": [
      [
        0.8807408954028559,
        -0.4735984133954369,
        0.00013414283564011642
      ],
      [
        -6.253259836880298e-05,
        0.00016695118605292159,
        0.9999999841084877
      ],
      [
        -0.4735984282645474,
        -0.8807408897948512,
        0.00011742539771986138
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        70.875853,
        -22.160403,
        -55.652135,
        121.264512,
        22.67893,
        -4.390919,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1635.4593846869514,
    "filename": "scan-0500_light-50_camera-500.png"
  },
  {
    "id": 501,
    "scan_id": "0501",
    "camera_id": 501,
    "light_id": 50,
    "position": [
      303.35498,
      -136.381149,
      424.190308
    ],
    "rotation_matrix": [
      [
        0.9466791937001537,
        -0.32217773275671835,
        0.00011283159233863027
      ],
      [
        -6.248873383343789e-05,
        0.00016659998793971953,
        0.9999999841698013
      ],
      [
        -0.3221777464543226,
        -0.946679185764737,
        0.00013758426366400345
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        84.908965,
        -24.63793,
        -60.322257,
        132.30644,
        7.252041,
        -23.332503,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1635.4593846869514,
    "filename": "scan-0501_light-50_camera-501.png"
  },
  {
    "id": 502,
    "scan_id": "0502",
    "camera_id": 502,
    "light_id": 51,
    "position": [
      250.50441,
      -136.381149,
      436.664001
    ],
    "rotation_matrix": [
      [
        0.9755793306389071,
        -0.21964735402815555,
        9.746061940843487e-05
      ],
      [
        -6.24382710339294e-05,
        0.00016639003629020932,
        0.9999999842079091
      ],
      [
        -0.21964736677594054,
        -0.975579321317742,
        0.00014861227920631714
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        90.579356,
        -23.720567,
        -66.477084,
        156.800558,
        -0.383538,
        -53.840443,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1665.3406806929422,
    "filename": "scan-0502_light-51_camera-502.png"
  },
  {
    "id": 503,
    "scan_id": "0503",
    "camera_id": 503,
    "light_id": 51,
    "position": [
      192.819092,
      -136.381149,
      443.704926
    ],
    "rotation_matrix": [
      [
        0.9942392311154691,
        -0.10718369689635425,
        8.019071441527775e-05
      ],
      [
        -6.264342085190999e-05,
        0.00016707920210784488,
        0.9999999840801707
      ],
      [
        -0.10718370858820869,
        -0.9942392203107712,
        0.0001594023440058545
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        89.79681,
        -23.274692,
        -68.44657,
        204.167781,
        -1.838564,
        -107.762647,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1665.3406806929422,
    "filename": "scan-0503_light-51_camera-503.png"
  },
  {
    "id": 504,
    "scan_id": "0504",
    "camera_id": 504,
    "light_id": 51,
    "position": [
      63.333176,
      -136.381149,
      435.513062
    ],
    "rotation_matrix": [
      [
        0.9890942059757903,
        0.1472842498667181,
        3.8030502092764595e-05
      ],
      [
        -6.330323959441442e-05,
        0.00016690424154452987,
        0.999999984067837
      ],
      [
        0.14728424117270927,
        -0.9890941926248341,
        0.0001744075884222429
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        107.453192,
        -22.426256,
        -61.168344,
        249.943327,
        18.189634,
        -166.874817,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1665.3406806929422,
    "filename": "scan-0504_light-51_camera-504.png"
  },
  {
    "id": 505,
    "scan_id": "0505",
    "camera_id": 505,
    "light_id": 52,
    "position": [
      15.07172,
      -136.381149,
      423.726532
    ],
    "rotation_matrix": [
      [
        0.9700601411251422,
        0.24286482283612754,
        2.0713414444872846e-05
      ],
      [
        -6.3050088528957e-05,
        0.00016654928938480973,
        0.99999998414301
      ],
      [
        0.24286481553521805,
        -0.9700601270488908,
        0.00017687547574535278
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        116.010833,
        -19.163834,
        -61.840996,
        252.18554,
        27.039311,
        -173.471681,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1706.5223360672603,
    "filename": "scan-0505_light-52_camera-505.png"
  },
  {
    "id": 506,
    "scan_id": "0506",
    "camera_id": 506,
    "light_id": 52,
    "position": [
      -81.459366,
      -136.381149,
      383.948975
    ],
    "rotation_matrix": [
      [
        0.9002342975205883,
        0.4354057984391316,
        -1.591213094551125e-05
      ],
      [
        -6.302104280531129e-05,
        0.0001668462734113474,
        0.9999999840953347
      ],
      [
        0.4354057941690277,
        -0.9002342821998638,
        0.00017764046519952448
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        130.234854,
        -8.539936,
        -66.121163,
        252.987967,
        42.184476,
        -182.225044,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1706.5223360672603,
    "filename": "scan-0506_light-52_camera-506.png"
  },
  {
    "id": 507,
    "scan_id": "0507",
    "camera_id": 507,
    "light_id": 52,
    "position": [
      -171.223984,
      -136.381149,
      322.48999
    ],
    "rotation_matrix": [
      [
        0.7873448332407337,
        0.6165128633865921,
        -5.336653038823247e-05
      ],
      [
        -6.299222654704284e-05,
        0.00016700889755749682,
        0.9999999840700037
      ],
      [
        0.6165128624782298,
        -0.7873448173366567,
        0.00017032911055681055
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        139.903631,
        5.704024,
        -73.243544,
        252.697994,
        53.035953,
        -189.094579,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1706.5223360672603,
    "filename": "scan-0507_light-52_camera-507.png"
  },
  {
    "id": 508,
    "scan_id": "0508",
    "camera_id": 508,
    "light_id": 53,
    "position": [
      -210.97879,
      -136.381149,
      284.617737
    ],
    "rotation_matrix": [
      [
        0.716468829802768,
        0.697619101544454,
        -7.128366443032164e-05
      ],
      [
        -6.304889958541615e-05,
        0.00016693383874355483,
        0.9999999840789647
      ],
      [
        0.6976191023372914,
        -0.716468813901486,
        0.00016358700878127408
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        143.300927,
        13.526101,
        -77.593554,
        252.532466,
        57.038579,
        -192.405473,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1749.0981264141105,
    "filename": "scan-0508_light-53_camera-508.png"
  },
  {
    "id": 509,
    "scan_id": "0509",
    "camera_id": 509,
    "light_id": 53,
    "position": [
      -268.865814,
      -136.381149,
      210.557465
    ],
    "rotation_matrix": [
      [
        0.5761964830083726,
        0.8173112031957048,
        -0.00010049662382016766
      ],
      [
        -6.280300366295899e-05,
        0.00016723555423586722,
        0.9999999840440259
      ],
      [
        0.8173112069613171,
        -0.5761964675031066,
        0.00014769013667276232
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        147.500135,
        27.475675,
        -86.037692,
        252.274234,
        62.233644,
        -198.25669,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1749.0981264141105,
    "filename": "scan-0509_light-53_camera-509.png"
  },
  {
    "id": 510,
    "scan_id": "0510",
    "camera_id": 510,
    "light_id": 53,
    "position": [
      -302.807037,
      -136.381149,
      148.699509
    ],
    "rotation_matrix": [
      [
        0.45782155811016123,
        0.8890440971573565,
        -0.00011932831088767859
      ],
      [
        -6.272537496121444e-05,
        0.0001665219288555786,
        0.9999999841679874
      ],
      [
        0.8890441029527795,
        -0.45782154337701136,
        0.0001320029532794198
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        149.632626,
        38.246365,
        -93.143228,
        252.071178,
        65.065889,
        -202.938328,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1749.0981264141105,
    "filename": "scan-0510_light-53_camera-510.png"
  },
  {
    "id": 511,
    "scan_id": "0511",
    "camera_id": 511,
    "light_id": 54,
    "position": [
      -327.292145,
      -136.381149,
      84.680275
    ],
    "rotation_matrix": [
      [
        0.33441396884029945,
        0.9424262723499957,
        -0.0001364879878945624
      ],
      [
        -6.287212331185232e-05,
        0.00016713594116157804,
        0.9999999840563365
      ],
      [
        0.9424262801363167,
        -0.33441395492722603,
        0.00011514493422726257
      ]
    ],
    "position_light": [
      485.601868,
      40.295452,
      73.963654
    ],
    "rotation_matrix_light": [
      [
        0.33499157276814845,
        0.863041410768302,
        0.3780742909447575
      ],
      [
        0.1368059777218778,
        0.3524546693306199,
        -0.9257752591890778
      ],
      [
        -0.9322364349422754,
        0.3618497331297927,
        1.199939157481289e-07
      ]
    ],
    "servo_angle": [
      [
        151.060495,
        48.928648,
        -100.707073,
        251.835004,
        67.131116,
        -207.812079,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.414193,
        26.364538,
        -64.005402,
        -168.097624,
        52.907209,
        14.405821,
        0.0
      ]
    ],
    "turn_angle": 1786.65804193484,
    "filename": "scan-0511_light-54_camera-511.png"
  },
  {
    "id": 512,
    "scan_id": "0512",
    "camera_id": 512,
    "light_id": 55,
    "position": [
      -333.008026,
      -136.381149,
      64.618301
    ],
    "rotation_matrix": [
      [
        0.29557687600657334,
        0.9553189470286276,
        -0.0001407775174484538
      ],
      [
        -6.295787019544585e-05,
        0.00016684103910874493,
        0.9999999841001872
      ],
      [
        0.9553189553267023,
        -0.29557686244390363,
        0.00010945919939170379
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        151.386049,
        52.226879,
        -103.152342,
        251.752327,
        67.641449,
        -209.369321,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1786.65804193484,
    "filename": "scan-0512_light-55_camera-512.png"
  },
  {
    "id": 513,
    "scan_id": "0513",
    "camera_id": 513,
    "light_id": 55,
    "position": [
      -298.338867,
      -136.381149,
      158.121735
    ],
    "rotation_matrix": [
      [
        0.47591166002236507,
        0.8794930802024807,
        -0.00011717811204259299
      ],
      [
        -6.281998318624638e-05,
        0.00016722686734477188,
        0.9999999840444123
      ],
      [
        0.8794930857649802,
        -0.47591164506778777,
        0.00013483495654903477
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        149.363336,
        36.641682,
        -92.05203,
        252.103091,
        64.695988,
        -202.227287,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1786.65804193484,
    "filename": "scan-0513_light-55_camera-513.png"
  },
  {
    "id": 514,
    "scan_id": "0514",
    "camera_id": 514,
    "light_id": 56,
    "position": [
      -295.857361,
      -136.381149,
      163.148819
    ],
    "rotation_matrix": [
      [
        0.4855553484541296,
        0.8742059197435335,
        -0.00011607304477467828
      ],
      [
        -6.263532202249733e-05,
        0.00016756459229944065,
        0.9999999839994618
      ],
      [
        0.8742059252055007,
        -0.4855553334147102,
        0.00013611805329960536
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        149.212419,
        35.780985,
        -91.471509,
        252.119879,
        64.490525,
        -201.847989,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1810.2913647408398,
    "filename": "scan-0514_light-56_camera-514.png"
  },
  {
    "id": 515,
    "scan_id": "0515",
    "camera_id": 515,
    "light_id": 56,
    "position": [
      -204.700882,
      -136.381149,
      291.161591
    ],
    "rotation_matrix": [
      [
        0.7287654475735792,
        0.684763402689452,
        -6.899307193619642e-05
      ],
      [
        -6.266826980211304e-05,
        0.00016744986673367102,
        0.9999999840166147
      ],
      [
        0.6847634032974955,
        -0.728765431601764,
        0.0001649446147466982
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        142.794948,
        12.214887,
        -76.844527,
        252.558765,
        56.433535,
        -191.85698,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1810.2913647408398,
    "filename": "scan-0515_light-56_camera-515.png"
  },
  {
    "id": 516,
    "scan_id": "0516",
    "camera_id": 516,
    "light_id": 56,
    "position": [
      -175.597122,
      -136.381149,
      318.70874
    ],
    "rotation_matrix": [
      [
        0.780302471617753,
        0.6254023103341989,
        -5.491695222759052e-05
      ],
      [
        -6.320507041657208e-05,
        0.00016667035330308888,
        0.9999999841130559
      ],
      [
        0.6254023095514953,
        -0.7803024557501016,
        0.00016958188569116128
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        140.300748,
        6.512238,
        -73.679622,
        252.680003,
        53.497184,
        -189.44288,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1810.2913647408398,
    "filename": "scan-0516_light-56_camera-516.png"
  },
  {
    "id": 517,
    "scan_id": "0517",
    "camera_id": 517,
    "light_id": 57,
    "position": [
      -97.554443,
      -136.381149,
      374.913116
    ],
    "rotation_matrix": [
      [
        0.883881113790432,
        0.4677116378383904,
        -2.269615988753637e-05
      ],
      [
        -6.275555385579223e-05,
        0.0001671213671863292,
        0.9999999840660944
      ],
      [
        0.4677116341789306,
        -0.8838810982824438,
        0.00017706692304420013
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        132.201188,
        -6.294228,
        -67.165952,
        252.959778,
        44.342923,
        -183.463664,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1821.000547980989,
    "filename": "scan-0517_light-57_camera-517.png"
  },
  {
    "id": 518,
    "scan_id": "0518",
    "camera_id": 518,
    "light_id": 57,
    "position": [
      5.607785,
      -136.381149,
      420.819794
    ],
    "rotation_matrix": [
      [
        0.9651608259905431,
        0.26165737079651463,
        1.6766270474505296e-05
      ],
      [
        -6.27316523415522e-05,
        0.00016731752310134018,
        0.999999984034793
      ],
      [
        0.26165736381380966,
        -0.9651608116333265,
        0.00017790251801658163
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        117.589962,
        -18.351724,
        -62.102322,
        252.403608,
        28.689085,
        -174.509881,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1821.000547980989,
    "filename": "scan-0518_light-57_camera-518.png"
  },
  {
    "id": 519,
    "scan_id": "0519",
    "camera_id": 519,
    "light_id": 57,
    "position": [
      78.432266,
      -136.381149,
      438.194305
    ],
    "rotation_matrix": [
      [
        0.9930768837427011,
        0.11746617030935398,
        4.252927444634014e-05
      ],
      [
        -6.25701855445776e-05,
        0.00016692236627424695,
        0.9999999841109475
      ],
      [
        0.11746616134384072,
        -0.9930768706247151,
        0.0001731166233981396
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        104.660653,
        -23.123259,
        -61.232515,
        248.617274,
        15.324558,
        -164.125594,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1821.000547980989,
    "filename": "scan-0519_light-57_camera-519.png"
  },
  {
    "id": 520,
    "scan_id": "0520",
    "camera_id": 520,
    "light_id": 58,
    "position": [
      170.434738,
      -136.381149,
      444.655701
    ],
    "rotation_matrix": [
      [
        0.9979886096900965,
        -0.0633934503485434,
        7.336030672973337e-05
      ],
      [
        -6.287965564594905e-05,
        0.00016732210320730134,
        0.9999999840247311
      ],
      [
        -0.0633934616106168,
        -0.9979885983598311,
        0.00016299939482217196
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        90.499371,
        -23.730594,
        -66.420304,
        220.62628,
        -0.047842,
        -126.7142,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1859.7014590865913,
    "filename": "scan-0520_light-58_camera-520.png"
  },
  {
    "id": 521,
    "scan_id": "0521",
    "camera_id": 521,
    "light_id": 58,
    "position": [
      248.755112,
      -136.378159,
      436.996582
    ],
    "rotation_matrix": [
      [
        0.9760919133007837,
        -0.21101276295252758,
        0.05213627010015011
      ],
      [
        -0.04994720080686964,
        0.015694352027446568,
        0.9986285417741659
      ],
      [
        -0.21154161273937017,
        -0.9773573047691305,
        0.004779633254484106
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        87.630514,
        -23.286666,
        -67.934574,
        173.342365,
        -1.067535,
        -70.873561,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1859.7014590865913,
    "filename": "scan-0521_light-58_camera-521.png"
  },
  {
    "id": 522,
    "scan_id": "0522",
    "camera_id": 522,
    "light_id": 58,
    "position": [
      311.305786,
      -136.379562,
      421.793121
    ],
    "rotation_matrix": [
      [
        0.9417743966901518,
        -0.33616220237184546,
        0.00748060394689487
      ],
      [
        -0.004731514439004936,
        0.008996247384410516,
        0.9999483388176168
      ],
      [
        -0.33621213319868953,
        -0.9417611380968681,
        0.006881879138558533
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        83.438812,
        -24.547174,
        -59.877126,
        132.207204,
        8.645188,
        -22.411015,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1859.7014590865913,
    "filename": "scan-0522_light-58_camera-522.png"
  },
  {
    "id": 523,
    "scan_id": "0523",
    "camera_id": 523,
    "light_id": 59,
    "position": [
      436.75415,
      -136.381149,
      363.094574
    ],
    "rotation_matrix": [
      [
        0.8156988848565555,
        -0.5784767129349959,
        0.00014776905736846313
      ],
      [
        -6.281201717966978e-05,
        0.000166875105759412,
        0.9999999841036747
      ],
      [
        -0.5784767283983189,
        -0.8156988811716132,
        9.978454844739026e-05
      ]
    ],
    "position_light": [
      498.775787,
      -2.022713,
      78.687103
    ],
    "rotation_matrix_light": [
      [
        0.36213580913146187,
        0.8941031763394234,
        0.26350932773709324
      ],
      [
        0.0989222731773226,
        0.24423666734112937,
        -0.9646568478974942
      ],
      [
        -0.9268613918025348,
        0.37540372985074605,
        1.24488591324301e-07
      ]
    ],
    "servo_angle": [
      [
        61.37988,
        -17.360564,
        -54.866324,
        119.507136,
        33.42653,
        2.120288,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -59.300731,
        32.673033,
        -75.243281,
        -159.448368,
        49.216158,
        8.715662,
        0.0
      ]
    ],
    "turn_angle": 1882.4203583425424,
    "filename": "scan-0523_light-59_camera-523.png"
  },
  {
    "id": 524,
    "scan_id": "0524",
    "camera_id": 524,
    "light_id": 60,
    "position": [
      314.920715,
      -136.381149,
      420.651489
    ],
    "rotation_matrix": [
      [
        0.938769135518616,
        -0.34454679881267003,
        0.00011672862457071109
      ],
      [
        -6.290052683247116e-05,
        0.00016740701032402772,
        0.9999999840092081
      ],
      [
        -0.344546812844284,
        -0.9387691278492462,
        0.00013548435919785717
      ]
    ],
    "position_light": [
      442.552094,
      71.863998,
      137.346191
    ],
    "rotation_matrix_light": [
      [
        0.44435436493740227,
        0.7453317130525011,
        0.49702096120717254
      ],
      [
        0.2545159387974746,
        0.42690920905664553,
        -0.8677385344219012
      ],
      [
        -0.8589358737758703,
        0.5120831619384228,
        1.6981320710707237e-07
      ]
    ],
    "servo_angle": [
      [
        83.007432,
        -24.597479,
        -59.289042,
        129.430077,
        9.37972,
        -19.210129,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.569071,
        10.909002,
        -53.778277,
        -181.823573,
        47.167375,
        32.459148,
        0.0
      ]
    ],
    "turn_angle": 1971.1063041325406,
    "filename": "scan-0524_light-60_camera-524.png"
  },
  {
    "id": 525,
    "scan_id": "0525",
    "camera_id": 525,
    "light_id": 60,
    "position": [
      202.344299,
      -136.383713,
      442.983032
    ],
    "rotation_matrix": [
      [
        0.9898509448152097,
        -0.13023253905287424,
        -0.056873480817321374
      ],
      [
        0.056004041656524055,
        -0.010331722208506922,
        0.9983770844897937
      ],
      [
        -0.1306087836501472,
        -0.9914296451529214,
        -0.002933316447506773
      ]
    ],
    "position_light": [
      442.552094,
      71.863998,
      137.346191
    ],
    "rotation_matrix_light": [
      [
        0.44435436493740227,
        0.7453317130525011,
        0.49702096120717254
      ],
      [
        0.2545159387974746,
        0.42690920905664553,
        -0.8677385344219012
      ],
      [
        -0.8589358737758703,
        0.5120831619384228,
        1.6981320710707237e-07
      ]
    ],
    "servo_angle": [
      [
        93.897985,
        -22.933495,
        -69.497947,
        177.578185,
        -2.687287,
        -79.855248,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.569071,
        10.909002,
        -53.778277,
        -181.823573,
        47.167375,
        32.459148,
        0.0
      ]
    ],
    "turn_angle": 1971.1063041325406,
    "filename": "scan-0525_light-60_camera-525.png"
  },
  {
    "id": 526,
    "scan_id": "0526",
    "camera_id": 526,
    "light_id": 61,
    "position": [
      203.400421,
      -136.382553,
      442.90213
    ],
    "rotation_matrix": [
      [
        0.9913172667763857,
        -0.12828161973778485,
        -0.028877372256610342
      ],
      [
        0.02897454282584456,
        -0.0011090109432873585,
        0.9995795345857983
      ],
      [
        -0.1282597070752533,
        -0.991737160810352,
        0.0026175195877364277
      ]
    ],
    "position_light": [
      442.552094,
      71.863998,
      137.346191
    ],
    "rotation_matrix_light": [
      [
        0.44435436493740227,
        0.7453317130525011,
        0.49702096120717254
      ],
      [
        0.2545159387974746,
        0.42690920905664553,
        -0.8677385344219012
      ],
      [
        -0.8589358737758703,
        0.5120831619384228,
        1.6981320710707237e-07
      ]
    ],
    "servo_angle": [
      [
        91.959783,
        -23.047628,
        -69.331159,
        185.83359,
        -2.291258,
        -88.231604,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.569071,
        10.909002,
        -53.778277,
        -181.823573,
        47.167375,
        32.459148,
        0.0
      ]
    ],
    "turn_angle": 1993.877864804868,
    "filename": "scan-0526_light-61_camera-526.png"
  },
  {
    "id": 527,
    "scan_id": "0527",
    "camera_id": 527,
    "light_id": 61,
    "position": [
      107.83976,
      -136.382996,
      442.085144
    ],
    "rotation_matrix": [
      [
        0.9983129649228352,
        0.0577767621735506,
        -0.005750636462098786
      ],
      [
        0.005202250598544091,
        0.009637392922676513,
        0.9999400268247911
      ],
      [
        0.05782871826081048,
        -0.9982830091764534,
        0.00932056510716417
      ]
    ],
    "position_light": [
      442.552094,
      71.863998,
      137.346191
    ],
    "rotation_matrix_light": [
      [
        0.44435436493740227,
        0.7453317130525011,
        0.49702096120717254
      ],
      [
        0.2545159387974746,
        0.42690920905664553,
        -0.8677385344219012
      ],
      [
        -0.8589358737758703,
        0.5120831619384228,
        1.6981320710707237e-07
      ]
    ],
    "servo_angle": [
      [
        99.406229,
        -23.926775,
        -62.167181,
        242.402629,
        9.747444,
        -155.021352,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.569071,
        10.909002,
        -53.778277,
        -181.823573,
        47.167375,
        32.459148,
        0.0
      ]
    ],
    "turn_angle": 1993.877864804868,
    "filename": "scan-0527_light-61_camera-527.png"
  },
  {
    "id": 528,
    "scan_id": "0528",
    "camera_id": 528,
    "light_id": 61,
    "position": [
      -31.684216,
      -136.381149,
      407.350494
    ],
    "rotation_matrix": [
      [
        0.9419045678175979,
        0.33588061139743863,
        3.4098000170346143e-06
      ],
      [
        -6.311061079875002e-05,
        0.00016682824409902652,
        0.9999999840926937
      ],
      [
        0.3358806054856319,
        -0.9419045530496281,
        0.00017833391569860302
      ]
    ],
    "position_light": [
      442.552094,
      71.863998,
      137.346191
    ],
    "rotation_matrix_light": [
      [
        0.44435436493740227,
        0.7453317130525011,
        0.49702096120717254
      ],
      [
        0.2545159387974746,
        0.42690920905664553,
        -0.8677385344219012
      ],
      [
        -0.8589358737758703,
        0.5120831619384228,
        1.6981320710707237e-07
      ]
    ],
    "servo_angle": [
      [
        123.42886,
        -14.648182,
        -63.480802,
        252.880882,
        34.849814,
        -178.121578,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.569071,
        10.909002,
        -53.778277,
        -181.823573,
        47.167375,
        32.459148,
        0.0
      ]
    ],
    "turn_angle": 1993.877864804868,
    "filename": "scan-0528_light-61_camera-528.png"
  },
  {
    "id": 529,
    "scan_id": "0529",
    "camera_id": 529,
    "light_id": 62,
    "position": [
      -69.739731,
      -136.381149,
      390.057678
    ],
    "rotation_matrix": [
      [
        0.9112188282401117,
        0.4119226225024542,
        -1.1463777268738706e-05
      ],
      [
        -6.286759800383512e-05,
        0.00016690007374703386,
        0.9999999840960151
      ],
      [
        0.4119226178645483,
        -0.9112188130274012,
        0.00017797907547317804
      ]
    ],
    "position_light": [
      442.552094,
      71.863998,
      137.346191
    ],
    "rotation_matrix_light": [
      [
        0.44435436493740227,
        0.7453317130525011,
        0.49702096120717254
      ],
      [
        0.2545159387974746,
        0.42690920905664553,
        -0.8677385344219012
      ],
      [
        -0.8589358737758703,
        0.5120831619384228,
        1.6981320710707237e-07
      ]
    ],
    "servo_angle": [
      [
        128.732673,
        -10.092823,
        -65.419404,
        252.994442,
        40.54851,
        -181.304014,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.569071,
        10.909002,
        -53.778277,
        -181.823573,
        47.167375,
        32.459148,
        0.0
      ]
    ],
    "turn_angle": 2025.444434088476,
    "filename": "scan-0529_light-62_camera-529.png"
  },
  {
    "id": 530,
    "scan_id": "0530",
    "camera_id": 530,
    "light_id": 62,
    "position": [
      -191.861176,
      -136.381149,
      303.851624
    ],
    "rotation_matrix": [
      [
        0.752554305014054,
        0.6585301922545652,
        -6.240176229804772e-05
      ],
      [
        -6.321659133240454e-05,
        0.0001670017268033397,
        0.9999999840570429
      ],
      [
        0.6585301921768485,
        -0.7525542890712861,
        0.00016730790249447347
      ]
    ],
    "position_light": [
      442.552094,
      71.863998,
      137.346191
    ],
    "rotation_matrix_light": [
      [
        0.44435436493740227,
        0.7453317130525011,
        0.49702096120717254
      ],
      [
        0.2545159387974746,
        0.42690920905664553,
        -0.8677385344219012
      ],
      [
        -0.8589358737758703,
        0.5120831619384228,
        1.6981320710707237e-07
      ]
    ],
    "servo_angle": [
      [
        141.72558,
        9.626436,
        -75.389099,
        252.612394,
        55.165694,
        -190.76859,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.569071,
        10.909002,
        -53.778277,
        -181.823573,
        47.167375,
        32.459148,
        0.0
      ]
    ],
    "turn_angle": 2025.444434088476,
    "filename": "scan-0530_light-62_camera-530.png"
  },
  {
    "id": 531,
    "scan_id": "0531",
    "camera_id": 531,
    "light_id": 62,
    "position": [
      -203.211807,
      -136.381149,
      292.680023
    ],
    "rotation_matrix": [
      [
        0.7316159300028549,
        0.6817170427636934,
        -6.76134801717021e-05
      ],
      [
        -6.291338954883541e-05,
        0.00016669953950704253,
        0.9999999841265844
      ],
      [
        0.6817170432136515,
        -0.7316159141358177,
        0.00016484916850095788
      ]
    ],
    "position_light": [
      442.552094,
      71.863998,
      137.346191
    ],
    "rotation_matrix_light": [
      [
        0.44435436493740227,
        0.7453317130525011,
        0.49702096120717254
      ],
      [
        0.2545159387974746,
        0.42690920905664553,
        -0.8677385344219012
      ],
      [
        -0.8589358737758703,
        0.5120831619384228,
        1.6981320710707237e-07
      ]
    ],
    "servo_angle": [
      [
        142.673366,
        11.908412,
        -76.670577,
        252.56501,
        56.288634,
        -191.728523,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.569071,
        10.909002,
        -53.778277,
        -181.823573,
        47.167375,
        32.459148,
        0.0
      ]
    ],
    "turn_angle": 2025.444434088476,
    "filename": "scan-0531_light-62_camera-531.png"
  },
  {
    "id": 532,
    "scan_id": "0532",
    "camera_id": 532,
    "light_id": 63,
    "position": [
      -266.863037,
      -136.381149,
      213.649887
    ],
    "rotation_matrix": [
      [
        0.5820889071667668,
        0.8131251406713689,
        -9.880063881428924e-05
      ],
      [
        -6.286616923911748e-05,
        0.00016651106973236685,
        0.9999999841609543
      ],
      [
        0.8131251442436425,
        -0.5820888917358161,
        0.00014804230931780848
      ]
    ],
    "position_light": [
      442.552094,
      71.863998,
      137.346191
    ],
    "rotation_matrix_light": [
      [
        0.44435436493740227,
        0.7453317130525011,
        0.49702096120717254
      ],
      [
        0.2545159387974746,
        0.42690920905664553,
        -0.8677385344219012
      ],
      [
        -0.8589358737758703,
        0.5120831619384228,
        1.6981320710707237e-07
      ]
    ],
    "servo_angle": [
      [
        147.367552,
        26.920078,
        -85.685036,
        252.284261,
        62.063361,
        -198.020402,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.569071,
        10.909002,
        -53.778277,
        -181.823573,
        47.167375,
        32.459148,
        0.0
      ]
    ],
    "turn_angle": 2052.0741405906733,
    "filename": "scan-0532_light-63_camera-532.png"
  },
  {
    "id": 533,
    "scan_id": "0533",
    "camera_id": 533,
    "light_id": 63,
    "position": [
      -302.05896,
      -136.381149,
      150.312195
    ],
    "rotation_matrix": [
      [
        0.4609197422133531,
        0.8874418160460398,
        -0.00011987861873652417
      ],
      [
        -6.268326714442551e-05,
        0.00016763980405237744,
        0.999999983983852
      ],
      [
        0.8874418219290684,
        -0.4609197273168108,
        0.0001328962476989104
      ]
    ],
    "position_light": [
      442.552094,
      71.863998,
      137.346191
    ],
    "rotation_matrix_light": [
      [
        0.44435436493740227,
        0.7453317130525011,
        0.49702096120717254
      ],
      [
        0.2545159387974746,
        0.42690920905664553,
        -0.8677385344219012
      ],
      [
        -0.8589358737758703,
        0.5120831619384228,
        1.6981320710707237e-07
      ]
    ],
    "servo_angle": [
      [
        149.587764,
        37.972434,
        -92.956157,
        252.076678,
        65.003953,
        -202.816574,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.569071,
        10.909002,
        -53.778277,
        -181.823573,
        47.167375,
        32.459148,
        0.0
      ]
    ],
    "turn_angle": 2052.0741405906733,
    "filename": "scan-0533_light-63_camera-533.png"
  },
  {
    "id": 534,
    "scan_id": "0534",
    "camera_id": 534,
    "light_id": 63,
    "position": [
      -328.307007,
      -136.381149,
      81.335548
    ],
    "rotation_matrix": [
      [
        0.32794488302101144,
        0.9446968482929821,
        -0.00013610893345561426
      ],
      [
        -6.296662220350857e-05,
        0.00016593525547164978,
        0.9999999842503478
      ],
      [
        0.9446968559996057,
        -0.32794486928567373,
        0.0001139019874879521
      ]
    ],
    "position_light": [
      442.552094,
      71.863998,
      137.346191
    ],
    "rotation_matrix_light": [
      [
        0.44435436493740227,
        0.7453317130525011,
        0.49702096120717254
      ],
      [
        0.2545159387974746,
        0.42690920905664553,
        -0.8677385344219012
      ],
      [
        -0.8589358737758703,
        0.5120831619384228,
        1.6981320710707237e-07
      ]
    ],
    "servo_angle": [
      [
        151.118363,
        49.479489,
        -101.111696,
        251.821597,
        67.220268,
        -208.070368,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.569071,
        10.909002,
        -53.778277,
        -181.823573,
        47.167375,
        32.459148,
        0.0
      ]
    ],
    "turn_angle": 2052.0741405906733,
    "filename": "scan-0534_light-63_camera-534.png"
  },
  {
    "id": 535,
    "scan_id": "0535",
    "camera_id": 535,
    "light_id": 64,
    "position": [
      -341.11911,
      -136.381149,
      28.474247
    ],
    "rotation_matrix": [
      [
        0.22542215253046166,
        0.9742611719837397,
        -0.00014803176401451124
      ],
      [
        -6.289466090675377e-05,
        0.00016649499762366737,
        0.9999999841618386
      ],
      [
        0.9742611811997821,
        -0.22542213964978158,
        9.880748679641504e-05
      ]
    ],
    "position_light": [
      439.932983,
      35.721699,
      171.811554
    ],
    "rotation_matrix_light": [
      [
        0.5413610318846814,
        0.7312782136614072,
        0.41492217026923794
      ],
      [
        0.24687677122421312,
        0.33348503296382115,
        -0.9098569077712313
      ],
      [
        -0.8037288678320947,
        0.5949957201638518,
        1.973080527295501e-07
      ]
    ],
    "servo_angle": [
      [
        151.850088,
        58.156477,
        -107.688965,
        251.591268,
        68.42113,
        -212.234568,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.596654,
        12.756619,
        -62.903203,
        -177.22255,
        39.894708,
        34.745994,
        0.0
      ]
    ],
    "turn_angle": 2065.6341171455388,
    "filename": "scan-0535_light-64_camera-535.png"
  },
  {
    "id": 536,
    "scan_id": "0536",
    "camera_id": 536,
    "light_id": 64,
    "position": [
      -303.017029,
      -136.381149,
      148.244095
    ],
    "rotation_matrix": [
      [
        0.4569465178858061,
        0.8894941627397326,
        -0.00011934814220954104
      ],
      [
        -6.306007476580833e-05,
        0.00016657020147498036,
        0.9999999841388976
      ],
      [
        0.8894941685112185,
        -0.4569465031120277,
        0.00013220524195362016
      ]
    ],
    "position_light": [
      439.932983,
      35.721699,
      171.811554
    ],
    "rotation_matrix_light": [
      [
        0.5413610318846814,
        0.7312782136614072,
        0.41492217026923794
      ],
      [
        0.24687677122421312,
        0.33348503296382115,
        -0.9098569077712313
      ],
      [
        -0.8037288678320947,
        0.5949957201638518,
        1.973080527295501e-07
      ]
    ],
    "servo_angle": [
      [
        149.645174,
        38.323657,
        -93.196054,
        252.069631,
        65.08325,
        -202.972705,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.596654,
        12.756619,
        -62.903203,
        -177.22255,
        39.894708,
        34.745994,
        0.0
      ]
    ],
    "turn_angle": 2065.6341171455388,
    "filename": "scan-0536_light-64_camera-536.png"
  },
  {
    "id": 537,
    "scan_id": "0537",
    "camera_id": 537,
    "light_id": 64,
    "position": [
      -274.116699,
      -136.381149,
      202.208771
    ],
    "rotation_matrix": [
      [
        0.5602762837418654,
        0.828305786113259,
        -0.00010279932472601061
      ],
      [
        -6.274969916386652e-05,
        0.0001665526109609905,
        0.9999999841613516
      ],
      [
        0.8283057901155106,
        -0.5602762684172196,
        0.00014529141681096647
      ]
    ],
    "position_light": [
      439.932983,
      35.721699,
      171.811554
    ],
    "rotation_matrix_light": [
      [
        0.5413610318846814,
        0.7312782136614072,
        0.41492217026923794
      ],
      [
        0.24687677122421312,
        0.33348503296382115,
        -0.9098569077712313
      ],
      [
        -0.8037288678320947,
        0.5949957201638518,
        1.973080527295501e-07
      ]
    ],
    "servo_angle": [
      [
        147.844024,
        28.966282,
        -86.990635,
        252.247248,
        62.677859,
        -198.892902,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.596654,
        12.756619,
        -62.903203,
        -177.22255,
        39.894708,
        34.745994,
        0.0
      ]
    ],
    "turn_angle": 2065.6341171455388,
    "filename": "scan-0537_light-64_camera-537.png"
  },
  {
    "id": 538,
    "scan_id": "0538",
    "camera_id": 538,
    "light_id": 65,
    "position": [
      -206.437714,
      -136.381149,
      289.37442
    ],
    "rotation_matrix": [
      [
        0.7254089437983102,
        0.6883181383096024,
        -6.878533955073651e-05
      ],
      [
        -6.311396100538991e-05,
        0.00016644740836574412,
        0.9999999841559437
      ],
      [
        0.6883181388529926,
        -0.7254089279635749,
        0.0001641849228411485
      ]
    ],
    "position_light": [
      439.932983,
      35.721699,
      171.811554
    ],
    "rotation_matrix_light": [
      [
        0.5413610318846814,
        0.7312782136614072,
        0.41492217026923794
      ],
      [
        0.24687677122421312,
        0.33348503296382115,
        -0.9098569077712313
      ],
      [
        -0.8037288678320947,
        0.5949957201638518,
        1.973080527295501e-07
      ]
    ],
    "servo_angle": [
      [
        142.93601,
        12.574533,
        -77.049187,
        252.551546,
        56.60187,
        -192.007554,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.596654,
        12.756619,
        -62.903203,
        -177.22255,
        39.894708,
        34.745994,
        0.0
      ]
    ],
    "turn_angle": 2093.5211247509114,
    "filename": "scan-0538_light-65_camera-538.png"
  },
  {
    "id": 539,
    "scan_id": "0539",
    "camera_id": 539,
    "light_id": 65,
    "position": [
      -187.391083,
      -136.381149,
      308.064697
    ],
    "rotation_matrix": [
      [
        0.7604347644846055,
        0.6494143248758042,
        -6.007783625899821e-05
      ],
      [
        -6.312206202507831e-05,
        0.0001664238707665966,
        0.9999999841593504
      ],
      [
        0.6494143245870454,
        -0.7604347486465878,
        0.000167546868265811
      ]
    ],
    "position_light": [
      439.932983,
      35.721699,
      171.811554
    ],
    "rotation_matrix_light": [
      [
        0.5413610318846814,
        0.7312782136614072,
        0.41492217026923794
      ],
      [
        0.24687677122421312,
        0.33348503296382115,
        -0.9098569077712313
      ],
      [
        -0.8037288678320947,
        0.5949957201638518,
        1.973080527295501e-07
      ]
    ],
    "servo_angle": [
      [
        141.341984,
        8.752904,
        -74.90495,
        252.631015,
        54.714318,
        -190.398917,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.596654,
        12.756619,
        -62.903203,
        -177.22255,
        39.894708,
        34.745994,
        0.0
      ]
    ],
    "turn_angle": 2093.5211247509114,
    "filename": "scan-0539_light-65_camera-539.png"
  },
  {
    "id": 540,
    "scan_id": "0540",
    "camera_id": 540,
    "light_id": 65,
    "position": [
      -71.539307,
      -136.381149,
      389.144684
    ],
    "rotation_matrix": [
      [
        0.9095813031094423,
        0.4155259954391285,
        -1.2167587346761932e-05
      ],
      [
        -6.27546204528262e-05,
        0.00016665146672301123,
        0.999999984144573
      ],
      [
        0.4155259908785327,
        -0.9095812879240701,
        0.00017765923439916342
      ]
    ],
    "position_light": [
      439.932983,
      35.721699,
      171.811554
    ],
    "rotation_matrix_light": [
      [
        0.5413610318846814,
        0.7312782136614072,
        0.41492217026923794
      ],
      [
        0.24687677122421312,
        0.33348503296382115,
        -0.9098569077712313
      ],
      [
        -0.8037288678320947,
        0.5949957201638518,
        1.973080527295501e-07
      ]
    ],
    "servo_angle": [
      [
        128.967299,
        -9.858942,
        -65.523969,
        252.994442,
        40.803304,
        -181.446738,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.596654,
        12.756619,
        -62.903203,
        -177.22255,
        39.894708,
        34.745994,
        0.0
      ]
    ],
    "turn_angle": 2093.5211247509114,
    "filename": "scan-0540_light-65_camera-540.png"
  },
  {
    "id": 541,
    "scan_id": "0541",
    "camera_id": 541,
    "light_id": 66,
    "position": [
      -13.497685,
      -136.381149,
      414.329102
    ],
    "rotation_matrix": [
      [
        0.9540494315935586,
        0.2996492649290027,
        1.0174300418941407e-05
      ],
      [
        -6.297523109369263e-05,
        0.00016655199599296955,
        0.9999999841472763
      ],
      [
        0.2996492584841956,
        -0.9540494171100055,
        0.000177769318813914
      ]
    ],
    "position_light": [
      439.932983,
      35.721699,
      171.811554
    ],
    "rotation_matrix_light": [
      [
        0.5413610318846814,
        0.7312782136614072,
        0.41492217026923794
      ],
      [
        0.24687677122421312,
        0.33348503296382115,
        -0.9098569077712313
      ],
      [
        -0.8037288678320947,
        0.5949957201638518,
        1.973080527295501e-07
      ]
    ],
    "servo_angle": [
      [
        120.659755,
        -16.552235,
        -62.741457,
        252.711114,
        31.915239,
        -176.441723,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.596654,
        12.756619,
        -62.903203,
        -177.22255,
        39.894708,
        34.745994,
        0.0
      ]
    ],
    "turn_angle": 2121.595327588601,
    "filename": "scan-0541_light-66_camera-541.png"
  },
  {
    "id": 542,
    "scan_id": "0542",
    "camera_id": 542,
    "light_id": 66,
    "position": [
      96.213242,
      -136.381149,
      440.75592
    ],
    "rotation_matrix": [
      [
        0.9965992152896561,
        0.08240146662549758,
        4.88058280290124e-05
      ],
      [
        -6.279211492592196e-05,
        0.00016714199121098394,
        0.9999999840603525
      ],
      [
        0.08240145715454397,
        -0.9965992024688369,
        0.00017174773964528933
      ]
    ],
    "position_light": [
      439.932983,
      35.721699,
      171.811554
    ],
    "rotation_matrix_light": [
      [
        0.5413610318846814,
        0.7312782136614072,
        0.41492217026923794
      ],
      [
        0.24687677122421312,
        0.33348503296382115,
        -0.9098569077712313
      ],
      [
        -0.8037288678320947,
        0.5949957201638518,
        1.973080527295501e-07
      ]
    ],
    "servo_angle": [
      [
        101.369469,
        -23.730766,
        -61.527359,
        246.413563,
        11.950295,
        -160.207479,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.596654,
        12.756619,
        -62.903203,
        -177.22255,
        39.894708,
        34.745994,
        0.0
      ]
    ],
    "turn_angle": 2121.595327588601,
    "filename": "scan-0542_light-66_camera-542.png"
  },
  {
    "id": 543,
    "scan_id": "0543",
    "camera_id": 543,
    "light_id": 66,
    "position": [
      180.785156,
      -136.381149,
      444.338623
    ],
    "rotation_matrix": [
      [
        0.9964950154908399,
        -0.08365212638943875,
        7.650121340104649e-05
      ],
      [
        -6.278554967318467e-05,
        0.00016659140055391708,
        0.9999999841526397
      ],
      [
        -0.08365213780821767,
        -0.9964950045021952,
        0.00016075535553888853
      ]
    ],
    "position_light": [
      439.932983,
      35.721699,
      171.811554
    ],
    "rotation_matrix_light": [
      [
        0.5413610318846814,
        0.7312782136614072,
        0.41492217026923794
      ],
      [
        0.24687677122421312,
        0.33348503296382115,
        -0.9098569077712313
      ],
      [
        -0.8037288678320947,
        0.5949957201638518,
        1.973080527295501e-07
      ]
    ],
    "servo_angle": [
      [
        89.971391,
        -23.505995,
        -67.442747,
        213.524926,
        -1.034475,
        -118.46378,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.596654,
        12.756619,
        -62.903203,
        -177.22255,
        39.894708,
        34.745994,
        0.0
      ]
    ],
    "turn_angle": 2121.595327588601,
    "filename": "scan-0543_light-66_camera-543.png"
  },
  {
    "id": 544,
    "scan_id": "0544",
    "camera_id": 544,
    "light_id": 67,
    "position": [
      260.587646,
      -136.377991,
      434.758118
    ],
    "rotation_matrix": [
      [
        0.9711524951363777,
        -0.23420293959231692,
        0.04485325268813849
      ],
      [
        -0.040877595153001114,
        0.021804642361034077,
        0.9989262133841593
      ],
      [
        -0.23492946474398602,
        -0.9719431776898407,
        0.01160197988617706
      ]
    ],
    "position_light": [
      439.932983,
      35.721699,
      171.811554
    ],
    "rotation_matrix_light": [
      [
        0.5413610318846814,
        0.7312782136614072,
        0.41492217026923794
      ],
      [
        0.24687677122421312,
        0.33348503296382115,
        -0.9098569077712313
      ],
      [
        -0.8037288678320947,
        0.5949957201638518,
        1.973080527295501e-07
      ]
    ],
    "servo_angle": [
      [
        87.783551,
        -23.583,
        -66.624506,
        163.100572,
        0.324924,
        -59.22722,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.596654,
        12.756619,
        -62.903203,
        -177.22255,
        39.894708,
        34.745994,
        0.0
      ]
    ],
    "turn_angle": 2146.207186245359,
    "filename": "scan-0544_light-67_camera-544.png"
  },
  {
    "id": 545,
    "scan_id": "0545",
    "camera_id": 545,
    "light_id": 67,
    "position": [
      311.342194,
      -136.379776,
      421.781342
    ],
    "rotation_matrix": [
      [
        0.9416874171446901,
        -0.3364272225124768,
        0.006444559248103943
      ],
      [
        -0.00405304709454779,
        0.0078103260423385,
        0.9999612850587574
      ],
      [
        -0.33646453186125175,
        -0.9416770798738028,
        0.005991330381136695
      ]
    ],
    "position_light": [
      439.932983,
      35.721699,
      171.811554
    ],
    "rotation_matrix_light": [
      [
        0.5413610318846814,
        0.7312782136614072,
        0.41492217026923794
      ],
      [
        0.24687677122421312,
        0.33348503296382115,
        -0.9098569077712313
      ],
      [
        -0.8037288678320947,
        0.5949957201638518,
        1.973080527295501e-07
      ]
    ],
    "servo_angle": [
      [
        83.457204,
        -24.557429,
        -59.835415,
        131.932299,
        8.661575,
        -22.127,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.596654,
        12.756619,
        -62.903203,
        -177.22255,
        39.894708,
        34.745994,
        0.0
      ]
    ],
    "turn_angle": 2146.207186245359,
    "filename": "scan-0545_light-67_camera-545.png"
  },
  {
    "id": 546,
    "scan_id": "0546",
    "camera_id": 546,
    "light_id": 68,
    "position": [
      622.781494,
      -136.381149,
      148.754791
    ],
    "rotation_matrix": [
      [
        0.37994267206651533,
        -0.9250100184144109,
        0.00017825803698007237
      ],
      [
        -6.269184370710779e-05,
        0.00016695897823371109,
        0.999999984097216
      ],
      [
        -0.9250100334659561,
        -0.37994267719969405,
        5.444256813647019e-06
      ]
    ],
    "position_light": [
      364.633209,
      25.445076,
      243.839417
    ],
    "rotation_matrix_light": [
      [
        0.6747027756997732,
        0.5504312338619514,
        0.49173328263625943
      ],
      [
        0.3810223600398834,
        0.31084334061056385,
        -0.8707458749530212
      ],
      [
        -0.6321377425946493,
        0.7748560346201576,
        2.569519917394736e-07
      ]
    ],
    "servo_angle": [
      [
        38.358207,
        20.876405,
        -66.034475,
        119.917431,
        64.099481,
        16.588675,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -71.302077,
        3.695005,
        -63.193521,
        -200.886451,
        32.285484,
        68.965555,
        0.0
      ]
    ],
    "turn_angle": 2233.808981181914,
    "filename": "scan-0546_light-68_camera-546.png"
  },
  {
    "id": 547,
    "scan_id": "0547",
    "camera_id": 547,
    "light_id": 68,
    "position": [
      621.803711,
      -136.381149,
      150.8591
    ],
    "rotation_matrix": [
      [
        0.3841493606123197,
        -0.9232709443458008,
        0.00017907528930322103
      ],
      [
        -6.300379547530266e-05,
        0.00016774319567713913,
        0.999999983946371
      ],
      [
        -0.9232709595626127,
        -0.3841493657277514,
        6.268867620617957e-06
      ]
    ],
    "position_light": [
      364.633209,
      25.445076,
      243.839417
    ],
    "rotation_matrix_light": [
      [
        0.6747027756997732,
        0.5504312338619514,
        0.49173328263625943
      ],
      [
        0.3810223600398834,
        0.31084334061056385,
        -0.8707458749530212
      ],
      [
        -0.6321377425946493,
        0.7748560346201576,
        2.569519917394736e-07
      ]
    ],
    "servo_angle": [
      [
        38.446557,
        20.520426,
        -65.876968,
        119.90792,
        63.947476,
        16.485428,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -71.302077,
        3.695005,
        -63.193521,
        -200.886451,
        32.285484,
        68.965555,
        0.0
      ]
    ],
    "turn_angle": 2233.808981181914,
    "filename": "scan-0547_light-68_camera-547.png"
  },
  {
    "id": 548,
    "scan_id": "0548",
    "camera_id": 548,
    "light_id": 69,
    "position": [
      165.592239,
      -136.385483,
      444.710876
    ],
    "rotation_matrix": [
      [
        0.9962057644808857,
        -0.0611809563777108,
        -0.0618947929293179
      ],
      [
        0.06325521426002954,
        0.020553268349816467,
        0.9977857189943434
      ],
      [
        -0.05977334425956312,
        -0.997915053367194,
        0.024345298913315327
      ]
    ],
    "position_light": [
      364.633209,
      25.445076,
      243.839417
    ],
    "rotation_matrix_light": [
      [
        0.6747027756997732,
        0.5504312338619514,
        0.49173328263625943
      ],
      [
        0.3810223600398834,
        0.31084334061056385,
        -0.8707458749530212
      ],
      [
        -0.6321377425946493,
        0.7748560346201576,
        2.569519917394736e-07
      ]
    ],
    "servo_angle": [
      [
        94.079842,
        -23.171101,
        -68.277261,
        204.608271,
        -0.018793,
        -110.917066,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -71.302077,
        3.695005,
        -63.193521,
        -200.886451,
        32.285484,
        68.965555,
        0.0
      ]
    ],
    "turn_angle": 2322.1953316126865,
    "filename": "scan-0548_light-69_camera-548.png"
  },
  {
    "id": 549,
    "scan_id": "0549",
    "camera_id": 549,
    "light_id": 70,
    "position": [
      97.121407,
      -136.382187,
      440.868958
    ],
    "rotation_matrix": [
      [
        0.9968131504925588,
        0.07973338586743223,
        -0.0024759206800395173
      ],
      [
        0.002097292394479859,
        0.0048320748699804406,
        0.9999861261122888
      ],
      [
        0.07974424348948798,
        -0.9968045135484517,
        0.004649451550795269
      ]
    ],
    "position_light": [
      364.633209,
      25.445076,
      243.839417
    ],
    "rotation_matrix_light": [
      [
        0.6747027756997732,
        0.5504312338619514,
        0.49173328263625943
      ],
      [
        0.3810223600398834,
        0.31084334061056385,
        -0.8707458749530212
      ],
      [
        -0.6321377425946493,
        0.7748560346201576,
        2.569519917394736e-07
      ]
    ],
    "servo_angle": [
      [
        101.260722,
        -23.725781,
        -61.672088,
        245.372098,
        11.768037,
        -159.06483,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -71.302077,
        3.695005,
        -63.193521,
        -200.886451,
        32.285484,
        68.965555,
        0.0
      ]
    ],
    "turn_angle": 2365.6356889125686,
    "filename": "scan-0549_light-70_camera-549.png"
  },
  {
    "id": 550,
    "scan_id": "0550",
    "camera_id": 550,
    "light_id": 70,
    "position": [
      3.857954,
      -136.381149,
      420.260223
    ],
    "rotation_matrix": [
      [
        0.9642115467041686,
        0.26513410369532886,
        1.6125424379537234e-05
      ],
      [
        -6.266995292664168e-05,
        0.00016709154915595104,
        0.9999999840764454
      ],
      [
        0.2651340967790293,
        -0.964211532361073,
        0.00017772754285072523
      ]
    ],
    "position_light": [
      364.633209,
      25.445076,
      243.839417
    ],
    "rotation_matrix_light": [
      [
        0.6747027756997732,
        0.5504312338619514,
        0.49173328263625943
      ],
      [
        0.3810223600398834,
        0.31084334061056385,
        -0.8707458749530212
      ],
      [
        -0.6321377425946493,
        0.7748560346201576,
        2.569519917394736e-07
      ]
    ],
    "servo_angle": [
      [
        117.877758,
        -18.195764,
        -62.154748,
        252.438616,
        28.990461,
        -174.695405,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -71.302077,
        3.695005,
        -63.193521,
        -200.886451,
        32.285484,
        68.965555,
        0.0
      ]
    ],
    "turn_angle": 2365.6356889125686,
    "filename": "scan-0550_light-70_camera-550.png"
  },
  {
    "id": 551,
    "scan_id": "0551",
    "camera_id": 551,
    "light_id": 70,
    "position": [
      -47.824867,
      -136.381149,
      400.47464
    ],
    "rotation_matrix": [
      [
        0.9297886778510372,
        0.36809375780116566,
        -2.799389296898047e-06
      ],
      [
        -6.322379632983655e-05,
        0.00016730563326650127,
        0.999999984005788
      ],
      [
        0.3680937523821497,
        -0.9297886628028122,
        0.00017883116832539958
      ]
    ],
    "position_light": [
      364.633209,
      25.445076,
      243.839417
    ],
    "rotation_matrix_light": [
      [
        0.6747027756997732,
        0.5504312338619514,
        0.49173328263625943
      ],
      [
        0.3810223600398834,
        0.31084334061056385,
        -0.8707458749530212
      ],
      [
        -0.6321377425946493,
        0.7748560346201576,
        2.569519917394736e-07
      ]
    ],
    "servo_angle": [
      [
        125.759137,
        -12.808472,
        -64.23934,
        252.960351,
        37.339889,
        -179.515699,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -71.302077,
        3.695005,
        -63.193521,
        -200.886451,
        32.285484,
        68.965555,
        0.0
      ]
    ],
    "turn_angle": 2365.6356889125686,
    "filename": "scan-0551_light-70_camera-551.png"
  },
  {
    "id": 552,
    "scan_id": "0552",
    "camera_id": 552,
    "light_id": 71,
    "position": [
      -158.249985,
      -136.381149,
      333.214447
    ],
    "rotation_matrix": [
      [
        0.8072703768190945,
        0.5901817825173907,
        -4.790565663498336e-05
      ],
      [
        -6.296609195272085e-05,
        0.00016729814367694162,
        0.9999999840233008
      ],
      [
        0.5901817811027616,
        -0.8072703609051467,
        0.00017221627587399313
      ]
    ],
    "position_light": [
      364.633209,
      25.445076,
      243.839417
    ],
    "rotation_matrix_light": [
      [
        0.6747027756997732,
        0.5504312338619514,
        0.49173328263625943
      ],
      [
        0.3810223600398834,
        0.31084334061056385,
        -0.8707458749530212
      ],
      [
        -0.6321377425946493,
        0.7748560346201576,
        2.569519917394736e-07
      ]
    ],
    "servo_angle": [
      [
        138.688789,
        3.374492,
        -72.004466,
        252.751049,
        51.634326,
        -188.077579,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -71.302077,
        3.695005,
        -63.193521,
        -200.886451,
        32.285484,
        68.965555,
        0.0
      ]
    ],
    "turn_angle": 2407.4696273463337,
    "filename": "scan-0552_light-71_camera-552.png"
  },
  {
    "id": 553,
    "scan_id": "0553",
    "camera_id": 553,
    "light_id": 71,
    "position": [
      -217.69223,
      -136.381149,
      277.354218
    ],
    "rotation_matrix": [
      [
        0.7027989132072324,
        0.7113885590804984,
        -7.486057242162003e-05
      ],
      [
        -6.254512458614414e-05,
        0.00016702154582037831,
        0.9999999840959553
      ],
      [
        0.7113885602698713,
        -0.7027988973477233,
        0.00016187644694154457
      ]
    ],
    "position_light": [
      364.633209,
      25.445076,
      243.839417
    ],
    "rotation_matrix_light": [
      [
        0.6747027756997732,
        0.5504312338619514,
        0.49173328263625943
      ],
      [
        0.3810223600398834,
        0.31084334061056385,
        -0.8707458749530212
      ],
      [
        -0.6321377425946493,
        0.7748560346201576,
        2.569519917394736e-07
      ]
    ],
    "servo_angle": [
      [
        143.830111,
        14.963996,
        -78.423942,
        252.504219,
        57.675364,
        -193.005761,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -71.302077,
        3.695005,
        -63.193521,
        -200.886451,
        32.285484,
        68.965555,
        0.0
      ]
    ],
    "turn_angle": 2407.4696273463337,
    "filename": "scan-0553_light-71_camera-553.png"
  },
  {
    "id": 554,
    "scan_id": "0554",
    "camera_id": 554,
    "light_id": 71,
    "position": [
      -257.073181,
      -136.381149,
      228.100296
    ],
    "rotation_matrix": [
      [
        0.6095852761209217,
        0.7927204944535817,
        -9.386079221057608e-05
      ],
      [
        -6.278233331807881e-05,
        0.00016668167107752874,
        0.9999999841377994
      ],
      [
        0.792720497524164,
        -0.6095852605587583,
        0.00015137553479899202
      ]
    ],
    "position_light": [
      364.633209,
      25.445076,
      243.839417
    ],
    "rotation_matrix_light": [
      [
        0.6747027756997732,
        0.5504312338619514,
        0.49173328263625943
      ],
      [
        0.3810223600398834,
        0.31084334061056385,
        -0.8707458749530212
      ],
      [
        -0.6321377425946493,
        0.7748560346201576,
        2.569519917394736e-07
      ]
    ],
    "servo_angle": [
      [
        146.707276,
        24.297249,
        -84.038184,
        252.331415,
        61.223061,
        -196.910239,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -71.302077,
        3.695005,
        -63.193521,
        -200.886451,
        32.285484,
        68.965555,
        0.0
      ]
    ],
    "turn_angle": 2407.4696273463337,
    "filename": "scan-0554_light-71_camera-554.png"
  },
  {
    "id": 555,
    "scan_id": "0555",
    "camera_id": 555,
    "light_id": 72,
    "position": [
      -313.456726,
      -136.381149,
      123.935295
    ],
    "rotation_matrix": [
      [
        0.4101835508383148,
        0.9120029817121584,
        -0.00012637168945328625
      ],
      [
        -6.275626346752272e-05,
        0.00016679032578109654,
        0.9999999841213191
      ],
      [
        0.9120029883083295,
        -0.410183536394526,
        0.00012564854747793008
      ]
    ],
    "position_light": [
      364.633209,
      25.445076,
      243.839417
    ],
    "rotation_matrix_light": [
      [
        0.6747027756997732,
        0.5504312338619514,
        0.49173328263625943
      ],
      [
        0.3810223600398834,
        0.31084334061056385,
        -0.8707458749530212
      ],
      [
        -0.6321377425946493,
        0.7748560346201576,
        2.569519917394736e-07
      ]
    ],
    "servo_angle": [
      [
        150.262536,
        42.417784,
        -96.034029,
        251.98426,
        65.95151,
        -204.811671,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -71.302077,
        3.695005,
        -63.193521,
        -200.886451,
        32.285484,
        68.965555,
        0.0
      ]
    ],
    "turn_angle": 2448.2895665470837,
    "filename": "scan-0555_light-72_camera-555.png"
  },
  {
    "id": 556,
    "scan_id": "0556",
    "camera_id": 556,
    "light_id": 72,
    "position": [
      -340.520538,
      -136.381149,
      31.628098
    ],
    "rotation_matrix": [
      [
        0.2315525567350216,
        0.972822384593354,
        -0.00014664097453120917
      ],
      [
        -6.298047018149511e-05,
        0.0001657283628284656,
        0.9999999842837852
      ],
      [
        0.9728223936068368,
        -0.23155254386037433,
        9.964363732117842e-05
      ]
    ],
    "position_light": [
      364.633209,
      25.445076,
      243.839417
    ],
    "rotation_matrix_light": [
      [
        0.6747027756997732,
        0.5504312338619514,
        0.49173328263625943
      ],
      [
        0.3810223600398834,
        0.31084334061056385,
        -0.8707458749530212
      ],
      [
        -0.6321377425946493,
        0.7748560346201576,
        2.569519917394736e-07
      ]
    ],
    "servo_angle": [
      [
        151.815481,
        57.63858,
        -107.285259,
        251.605936,
        68.359881,
        -211.98092,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -71.302077,
        3.695005,
        -63.193521,
        -200.886451,
        32.285484,
        68.965555,
        0.0
      ]
    ],
    "turn_angle": 2448.2895665470837,
    "filename": "scan-0556_light-72_camera-556.png"
  },
  {
    "id": 557,
    "scan_id": "0557",
    "camera_id": 557,
    "light_id": 73,
    "position": [
      -336.621002,
      -136.381149,
      50.001762
    ],
    "rotation_matrix": [
      [
        0.2672348031697409,
        0.9636314332953125,
        -0.00014401406618669288
      ],
      [
        -6.280247378609438e-05,
        0.0001668657383546157,
        0.9999999841058371
      ],
      [
        0.9636314420102111,
        -0.2672347898778278,
        0.00010511077057401286
      ]
    ],
    "position_light": [
      327.650299,
      17.617002,
      265.169434
    ],
    "rotation_matrix_light": [
      [
        0.7045634104766381,
        0.46496917911221153,
        0.5360914689614492
      ],
      [
        0.44743926027843034,
        0.29528320550754666,
        -0.8441599000821344
      ],
      [
        -0.5508071431808227,
        0.8346325485031746,
        2.767746341558741e-07
      ]
    ],
    "servo_angle": [
      [
        151.591913,
        54.624593,
        -104.964436,
        251.689072,
        67.977604,
        -210.517643,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.464615,
        1.566066,
        -63.12064,
        -214.374107,
        33.36763,
        86.611681,
        0.0
      ]
    ],
    "turn_angle": 2448.2895665470837,
    "filename": "scan-0557_light-73_camera-557.png"
  },
  {
    "id": 558,
    "scan_id": "0558",
    "camera_id": 558,
    "light_id": 74,
    "position": [
      -305.05722,
      -136.381149,
      143.757309
    ],
    "rotation_matrix": [
      [
        0.4483247713561165,
        0.8938707315226492,
        -0.00012130807977994706
      ],
      [
        -6.27622670483774e-05,
        0.0001671896747478807,
        0.9999999840542553
      ],
      [
        0.8938707375506729,
        -0.44832475659367405,
        0.00013105662626294867
      ]
    ],
    "position_light": [
      327.650299,
      17.617002,
      265.169434
    ],
    "rotation_matrix_light": [
      [
        0.7045634104766381,
        0.46496917911221153,
        0.5360914689614492
      ],
      [
        0.44743926027843034,
        0.29528320550754666,
        -0.8441599000821344
      ],
      [
        -0.5508071431808227,
        0.8346325485031746,
        2.767746341558741e-07
      ]
    ],
    "servo_angle": [
      [
        149.767042,
        39.083915,
        -93.717331,
        252.054218,
        65.25233,
        -203.311553,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.464615,
        1.566066,
        -63.12064,
        -214.374107,
        33.36763,
        86.611681,
        0.0
      ]
    ],
    "turn_angle": 2473.9397626645023,
    "filename": "scan-0558_light-74_camera-558.png"
  },
  {
    "id": 559,
    "scan_id": "0559",
    "camera_id": 559,
    "light_id": 74,
    "position": [
      -250.35463,
      -136.381149,
      237.434952
    ],
    "rotation_matrix": [
      [
        0.6273139809426471,
        0.7787664355669495,
        -9.026758045554972e-05
      ],
      [
        -6.273601918554972e-05,
        0.00016644626045919653,
        0.9999999841799169
      ],
      [
        0.7787664382715012,
        -0.6273139653554592,
        0.00015327077230448127
      ]
    ],
    "position_light": [
      327.650299,
      17.617002,
      265.169434
    ],
    "rotation_matrix_light": [
      [
        0.7045634104766381,
        0.46496917911221153,
        0.5360914689614492
      ],
      [
        0.44743926027843034,
        0.29528320550754666,
        -0.8441599000821344
      ],
      [
        -0.5508071431808227,
        0.8346325485031746,
        2.767746341558741e-07
      ]
    ],
    "servo_angle": [
      [
        146.242206,
        22.577918,
        -82.975003,
        252.362355,
        60.637957,
        -196.186765,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.464615,
        1.566066,
        -63.12064,
        -214.374107,
        33.36763,
        86.611681,
        0.0
      ]
    ],
    "turn_angle": 2473.9397626645023,
    "filename": "scan-0559_light-74_camera-559.png"
  },
  {
    "id": 560,
    "scan_id": "0560",
    "camera_id": 560,
    "light_id": 74,
    "position": [
      -194.384705,
      -136.381149,
      301.427734
    ],
    "rotation_matrix": [
      [
        0.7480164639170075,
        0.6636801682067293,
        -6.354670517721983e-05
      ],
      [
        -6.283540044138558e-05,
        0.00016656911493351245,
        0.9999999841532211
      ],
      [
        0.6636801682744549,
        -0.7480164480703734,
        0.0001662990494846195
      ]
    ],
    "position_light": [
      327.650299,
      17.617002,
      265.169434
    ],
    "rotation_matrix_light": [
      [
        0.7045634104766381,
        0.46496917911221153,
        0.5360914689614492
      ],
      [
        0.44743926027843034,
        0.29528320550754666,
        -0.8441599000821344
      ],
      [
        -0.5508071431808227,
        0.8346325485031746,
        2.767746341558741e-07
      ]
    ],
    "servo_angle": [
      [
        141.939522,
        10.125711,
        -75.667385,
        252.601908,
        55.418197,
        -190.979266,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.464615,
        1.566066,
        -63.12064,
        -214.374107,
        33.36763,
        86.611681,
        0.0
      ]
    ],
    "turn_angle": 2473.9397626645023,
    "filename": "scan-0560_light-74_camera-560.png"
  },
  {
    "id": 561,
    "scan_id": "0561",
    "camera_id": 561,
    "light_id": 75,
    "position": [
      -149.20343,
      -136.381149,
      340.278992
    ],
    "rotation_matrix": [
      [
        0.8203537358338872,
        0.5718564035059062,
        -4.327441825752176e-05
      ],
      [
        -6.317045898340812e-05,
        0.00016629443862337112,
        0.9999999841778262
      ],
      [
        0.5718564016541898,
        -0.8203537201204429,
        0.00017254469545513462
      ]
    ],
    "position_light": [
      327.650299,
      17.617002,
      265.169434
    ],
    "rotation_matrix_light": [
      [
        0.7045634104766381,
        0.46496917911221153,
        0.5360914689614492
      ],
      [
        0.44743926027843034,
        0.29528320550754666,
        -0.8441599000821344
      ],
      [
        -0.5508071431808227,
        0.8346325485031746,
        2.767746341558741e-07
      ]
    ],
    "servo_angle": [
      [
        137.808095,
        1.808026,
        -71.186454,
        252.787318,
        50.626436,
        -187.379888,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.464615,
        1.566066,
        -63.12064,
        -214.374107,
        33.36763,
        86.611681,
        0.0
      ]
    ],
    "turn_angle": 2501.5894212994235,
    "filename": "scan-0561_light-75_camera-561.png"
  },
  {
    "id": 562,
    "scan_id": "0562",
    "camera_id": 562,
    "light_id": 75,
    "position": [
      -129.42749,
      -136.381149,
      354.63028
    ],
    "rotation_matrix": [
      [
        0.8468144617328728,
        0.5318883963036094,
        -3.5744074718013774e-05
      ],
      [
        -6.266593027987044e-05,
        0.0001669720392205587,
        0.9999999840966592
      ],
      [
        0.5318883938130683,
        -0.8468144460257584,
        0.0001747256186763746
      ]
    ],
    "position_light": [
      327.650299,
      17.617002,
      265.169434
    ],
    "rotation_matrix_light": [
      [
        0.7045634104766381,
        0.46496917911221153,
        0.5360914689614492
      ],
      [
        0.44743926027843034,
        0.29528320550754666,
        -0.8441599000821344
      ],
      [
        -0.5508071431808227,
        0.8346325485031746,
        2.767746341558741e-07
      ]
    ],
    "servo_angle": [
      [
        135.781601,
        -1.459152,
        -69.521266,
        252.86249,
        48.330709,
        -185.875817,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.464615,
        1.566066,
        -63.12064,
        -214.374107,
        33.36763,
        86.611681,
        0.0
      ]
    ],
    "turn_angle": 2501.5894212994235,
    "filename": "scan-0562_light-75_camera-562.png"
  },
  {
    "id": 563,
    "scan_id": "0563",
    "camera_id": 563,
    "light_id": 75,
    "position": [
      -44.556484,
      -136.381149,
      401.920197
    ],
    "rotation_matrix": [
      [
        0.9323465062031329,
        0.36156602767142115,
        -2.1727041217833865e-06
      ],
      [
        -6.247019017957545e-05,
        0.00016709691458588471,
        0.9999999840880481
      ],
      [
        0.36156602228125206,
        -0.9323464912319509,
        0.00017837932302250392
      ]
    ],
    "position_light": [
      327.650299,
      17.617002,
      265.169434
    ],
    "rotation_matrix_light": [
      [
        0.7045634104766381,
        0.46496917911221153,
        0.5360914689614492
      ],
      [
        0.44743926027843034,
        0.29528320550754666,
        -0.8441599000821344
      ],
      [
        -0.5508071431808227,
        0.8346325485031746,
        2.767746341558741e-07
      ]
    ],
    "servo_angle": [
      [
        125.296932,
        -13.192124,
        -64.07811,
        252.948663,
        36.844337,
        -179.239533,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.464615,
        1.566066,
        -63.12064,
        -214.374107,
        33.36763,
        86.611681,
        0.0
      ]
    ],
    "turn_angle": 2501.5894212994235,
    "filename": "scan-0563_light-75_camera-563.png"
  },
  {
    "id": 564,
    "scan_id": "0564",
    "camera_id": 564,
    "light_id": 76,
    "position": [
      47.962959,
      -136.381149,
      432.298218
    ],
    "rotation_matrix": [
      [
        0.9840885716059038,
        0.1776785923802592,
        3.231752624616169e-05
      ],
      [
        -6.298287286904403e-05,
        0.00016694864174843227,
        0.9999999840806546
      ],
      [
        0.17767858415636514,
        -0.9840885579753083,
        0.0001754829585852158
      ]
    ],
    "position_light": [
      327.650299,
      17.617002,
      265.169434
    ],
    "rotation_matrix_light": [
      [
        0.7045634104766381,
        0.46496917911221153,
        0.5360914689614492
      ],
      [
        0.44743926027843034,
        0.29528320550754666,
        -0.8441599000821344
      ],
      [
        -0.5508071431808227,
        0.8346325485031746,
        2.767746341558741e-07
      ]
    ],
    "servo_angle": [
      [
        110.255701,
        -21.553297,
        -61.250449,
        250.923429,
        21.07356,
        -169.273677,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.464615,
        1.566066,
        -63.12064,
        -214.374107,
        33.36763,
        86.611681,
        0.0
      ]
    ],
    "turn_angle": 2542.5463902111596,
    "filename": "scan-0564_light-76_camera-564.png"
  },
  {
    "id": 565,
    "scan_id": "0565",
    "camera_id": 565,
    "light_id": 77,
    "position": [
      617.304138,
      -136.381149,
      160.234848
    ],
    "rotation_matrix": [
      [
        0.402903779130256,
        -0.915242324733756,
        0.0001782652728374856
      ],
      [
        -6.28519942950656e-05,
        0.00016710543190134874,
        0.9999999840627003
      ],
      [
        -0.9152423399363604,
        -0.4029037839133857,
        9.802604653552649e-06
      ]
    ],
    "position_light": [
      327.650299,
      17.617002,
      265.169434
    ],
    "rotation_matrix_light": [
      [
        0.7045634104766381,
        0.46496917911221153,
        0.5360914689614492
      ],
      [
        0.44743926027843034,
        0.29528320550754666,
        -0.8441599000821344
      ],
      [
        -0.5508071431808227,
        0.8346325485031746,
        2.767746341558741e-07
      ]
    ],
    "servo_angle": [
      [
        38.856279,
        18.92852,
        -65.18134,
        119.865865,
        63.252134,
        16.025744,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.464615,
        1.566066,
        -63.12064,
        -214.374107,
        33.36763,
        86.611681,
        0.0
      ]
    ],
    "turn_angle": 2584.1790925929336,
    "filename": "scan-0565_light-77_camera-565.png"
  },
  {
    "id": 566,
    "scan_id": "0566",
    "camera_id": 566,
    "light_id": 77,
    "position": [
      641.156067,
      -136.381149,
      103.364761
    ],
    "rotation_matrix": [
      [
        0.2894357729408892,
        -0.9571974204064422,
        0.00017807122982949064
      ],
      [
        -6.280663343860571e-05,
        0.00016704259444300096,
        0.9999999840760492
      ],
      [
        -0.9571974349095577,
        -0.2894357795159826,
        -1.177024507520441e-05
      ]
    ],
    "position_light": [
      327.650299,
      17.617002,
      265.169434
    ],
    "rotation_matrix_light": [
      [
        0.7045634104766381,
        0.46496917911221153,
        0.5360914689614492
      ],
      [
        0.44743926027843034,
        0.29528320550754666,
        -0.8441599000821344
      ],
      [
        -0.5508071431808227,
        0.8346325485031746,
        2.767746341558741e-07
      ]
    ],
    "servo_angle": [
      [
        36.737767,
        28.445979,
        -69.552092,
        120.136702,
        67.057548,
        18.83169,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -75.464615,
        1.566066,
        -63.12064,
        -214.374107,
        33.36763,
        86.611681,
        0.0
      ]
    ],
    "turn_angle": 2584.1790925929336,
    "filename": "scan-0566_light-77_camera-566.png"
  },
  {
    "id": 567,
    "scan_id": "0567",
    "camera_id": 567,
    "light_id": 78,
    "position": [
      623.549194,
      -136.381149,
      147.084732
    ],
    "rotation_matrix": [
      [
        0.37660461602058287,
        -0.926374077445288,
        0.00017840790616407975
      ],
      [
        -6.28903739543496e-05,
        0.00016702010770325293,
        0.9999999840745422
      ],
      [
        -0.9263740924900643,
        -0.37660462124312183,
        4.640531377220203e-06
      ]
    ],
    "position_light": [
      259.537872,
      -2.956726,
      289.279816
    ],
    "rotation_matrix_light": [
      [
        0.7072194071687979,
        0.30751226493155537,
        0.6366136324651547
      ],
      [
        0.5838114249951214,
        0.25385258928310594,
        -0.7711829114804274
      ],
      [
        -0.3987542227600605,
        0.9170578334166979,
        3.0410789386703385e-07
      ]
    ],
    "servo_angle": [
      [
        38.288993,
        21.158587,
        -66.159895,
        119.925051,
        64.219058,
        16.670608,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.204439,
        1.302677,
        -64.232064,
        -236.619194,
        43.206805,
        114.798683,
        0.0
      ]
    ],
    "turn_angle": 2607.2870029417927,
    "filename": "scan-0567_light-78_camera-567.png"
  },
  {
    "id": 568,
    "scan_id": "0568",
    "camera_id": 568,
    "light_id": 78,
    "position": [
      603.470154,
      -136.381149,
      186.380341
    ],
    "rotation_matrix": [
      [
        0.4553117368866083,
        -0.8903320676897464,
        0.0001774728177624807
      ],
      [
        -6.283446978144758e-05,
        0.0001672000243068128,
        0.9999999840479907
      ],
      [
        -0.8903320831606203,
        -0.4553117407748815,
        2.018459007191442e-05
      ]
    ],
    "position_light": [
      259.537872,
      -2.956726,
      289.279816
    ],
    "rotation_matrix_light": [
      [
        0.7072194071687979,
        0.30751226493155537,
        0.6366136324651547
      ],
      [
        0.5838114249951214,
        0.25385258928310594,
        -0.7711829114804274
      ],
      [
        -0.3987542227600605,
        0.9170578334166979,
        3.0410789386703385e-07
      ]
    ],
    "servo_angle": [
      [
        40.15082,
        14.437104,
        -63.299862,
        119.750872,
        61.14216,
        14.739568,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.204439,
        1.302677,
        -64.232064,
        -236.619194,
        43.206805,
        114.798683,
        0.0
      ]
    ],
    "turn_angle": 2607.2870029417927,
    "filename": "scan-0568_light-78_camera-568.png"
  },
  {
    "id": 569,
    "scan_id": "0569",
    "camera_id": 569,
    "light_id": 78,
    "position": [
      523.157776,
      -136.381149,
      292.734863
    ],
    "rotation_matrix": [
      [
        0.6705213651038988,
        -0.7418902016575499,
        0.00016620386136650955
      ],
      [
        -6.303131074886226e-05,
        0.0001670597858179912,
        0.9999999840590407
      ],
      [
        -0.7418902175970901,
        -0.6705213648911924,
        6.525484379849011e-05
      ]
    ],
    "position_light": [
      259.537872,
      -2.956726,
      289.279816
    ],
    "rotation_matrix_light": [
      [
        0.7072194071687979,
        0.30751226493155537,
        0.6366136324651547
      ],
      [
        0.5838114249951214,
        0.25385258928310594,
        -0.7711829114804274
      ],
      [
        -0.3987542227600605,
        0.9170578334166979,
        3.0410789386703385e-07
      ]
    ],
    "servo_angle": [
      [
        48.944118,
        -4.629213,
        -56.872937,
        119.278125,
        48.657868,
        8.875345,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.204439,
        1.302677,
        -64.232064,
        -236.619194,
        43.206805,
        114.798683,
        0.0
      ]
    ],
    "turn_angle": 2607.2870029417927,
    "filename": "scan-0569_light-78_camera-569.png"
  },
  {
    "id": 570,
    "scan_id": "0570",
    "camera_id": 570,
    "light_id": 79,
    "position": [
      60.295116,
      -136.381149,
      434.916748
    ],
    "rotation_matrix": [
      [
        0.9881813630029608,
        0.1532892443934291,
        3.69716377078555e-05
      ],
      [
        -6.324481652705827e-05,
        0.00016651991454635917,
        0.9999999841356053
      ],
      [
        0.15328923580507411,
        -0.9881813496643261,
        0.00017424662626069898
      ]
    ],
    "position_light": [
      259.537872,
      -2.956726,
      289.279816
    ],
    "rotation_matrix_light": [
      [
        0.7072194071687979,
        0.30751226493155537,
        0.6366136324651547
      ],
      [
        0.5838114249951214,
        0.25385258928310594,
        -0.7711829114804274
      ],
      [
        -0.3987542227600605,
        0.9170578334166979,
        3.0410789386703385e-07
      ]
    ],
    "servo_angle": [
      [
        108.011253,
        -22.266515,
        -61.173501,
        250.163056,
        18.76305,
        -167.377416,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.204439,
        1.302677,
        -64.232064,
        -236.619194,
        43.206805,
        114.798683,
        0.0
      ]
    ],
    "turn_angle": 2646.1869537745924,
    "filename": "scan-0570_light-79_camera-570.png"
  },
  {
    "id": 571,
    "scan_id": "0571",
    "camera_id": 571,
    "light_id": 80,
    "position": [
      2.647449,
      -136.381149,
      419.869049
    ],
    "rotation_matrix": [
      [
        0.9635467657330835,
        0.26753995963106125,
        1.5681966850200624e-05
      ],
      [
        -6.262674478188512e-05,
        0.0001669351779959305,
        0.9999999841052684
      ],
      [
        0.2675399527607135,
        -0.9635467513998769,
        0.00017760500761576647
      ]
    ],
    "position_light": [
      259.537872,
      -2.956726,
      289.279816
    ],
    "rotation_matrix_light": [
      [
        0.7072194071687979,
        0.30751226493155537,
        0.6366136324651547
      ],
      [
        0.5838114249951214,
        0.25385258928310594,
        -0.7711829114804274
      ],
      [
        -0.3987542227600605,
        0.9170578334166979,
        3.0410789386703385e-07
      ]
    ],
    "servo_angle": [
      [
        118.076116,
        -18.086788,
        -62.191761,
        252.461935,
        29.198273,
        -174.822601,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.204439,
        1.302677,
        -64.232064,
        -236.619194,
        43.206805,
        114.798683,
        0.0
      ]
    ],
    "turn_angle": 2675.531395916026,
    "filename": "scan-0571_light-80_camera-571.png"
  },
  {
    "id": 572,
    "scan_id": "0572",
    "camera_id": 572,
    "light_id": 80,
    "position": [
      -97.71611,
      -136.381149,
      374.81839
    ],
    "rotation_matrix": [
      [
        0.8837089348130547,
        0.4680368767666701,
        -2.276131464243325e-05
      ],
      [
        -6.274332914940617e-05,
        0.00016709827522426446,
        0.9999999840707205
      ],
      [
        0.4680368731145562,
        -0.8837089193080874,
        0.00017703243062056062
      ]
    ],
    "position_light": [
      259.537872,
      -2.956726,
      289.279816
    ],
    "rotation_matrix_light": [
      [
        0.7072194071687979,
        0.30751226493155537,
        0.6366136324651547
      ],
      [
        0.5838114249951214,
        0.25385258928310594,
        -0.7711829114804274
      ],
      [
        -0.3987542227600605,
        0.9170578334166979,
        3.0410789386703385e-07
      ]
    ],
    "servo_angle": [
      [
        132.220382,
        -6.271023,
        -67.176895,
        252.959434,
        44.364065,
        -183.475983,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.204439,
        1.302677,
        -64.232064,
        -236.619194,
        43.206805,
        114.798683,
        0.0
      ]
    ],
    "turn_angle": 2675.531395916026,
    "filename": "scan-0572_light-80_camera-572.png"
  },
  {
    "id": 573,
    "scan_id": "0573",
    "camera_id": 573,
    "light_id": 80,
    "position": [
      -152.716934,
      -136.381149,
      337.574127
    ],
    "rotation_matrix": [
      [
        0.8153487667405606,
        0.5789701084843076,
        -4.5346622487896227e-05
      ],
      [
        -6.278505671009071e-05,
        0.00016674149306122876,
        0.9999999841276556
      ],
      [
        0.5789701068558581,
        -0.8153487509519738,
        0.00017230314182653528
      ]
    ],
    "position_light": [
      259.537872,
      -2.956726,
      289.279816
    ],
    "rotation_matrix_light": [
      [
        0.7072194071687979,
        0.30751226493155537,
        0.6366136324651547
      ],
      [
        0.5838114249951214,
        0.25385258928310594,
        -0.7711829114804274
      ],
      [
        -0.3987542227600605,
        0.9170578334166979,
        3.0410789386703385e-07
      ]
    ],
    "servo_angle": [
      [
        138.153474,
        2.410892,
        -71.499804,
        252.77328,
        51.020918,
        -187.649923,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.204439,
        1.302677,
        -64.232064,
        -236.619194,
        43.206805,
        114.798683,
        0.0
      ]
    ],
    "turn_angle": 2675.531395916026,
    "filename": "scan-0573_light-80_camera-573.png"
  },
  {
    "id": 574,
    "scan_id": "0574",
    "camera_id": 574,
    "light_id": 81,
    "position": [
      -229.70546,
      -136.381149,
      263.614471
    ],
    "rotation_matrix": [
      [
        0.6768826344851014,
        0.7360909540938599,
        -8.02103473664939e-05
      ],
      [
        -6.29559035626448e-05,
        0.00016685995564502676,
        0.9999999840971547
      ],
      [
        0.7360909557718143,
        -0.6768826186710266,
        0.00015928587748637035
      ]
    ],
    "position_light": [
      259.537872,
      -2.956726,
      289.279816
    ],
    "rotation_matrix_light": [
      [
        0.7072194071687979,
        0.30751226493155537,
        0.6366136324651547
      ],
      [
        0.5838114249951214,
        0.25385258928310594,
        -0.7711829114804274
      ],
      [
        -0.3987542227600605,
        0.9170578334166979,
        3.0410789386703385e-07
      ]
    ],
    "servo_angle": [
      [
        144.74776,
        17.636787,
        -79.992185,
        252.453169,
        58.789882,
        -194.120336,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.204439,
        1.302677,
        -64.232064,
        -236.619194,
        43.206805,
        114.798683,
        0.0
      ]
    ],
    "turn_angle": 2697.9920777621865,
    "filename": "scan-0574_light-81_camera-574.png"
  },
  {
    "id": 575,
    "scan_id": "0575",
    "camera_id": 575,
    "light_id": 81,
    "position": [
      -248.779495,
      -136.381149,
      239.560593
    ],
    "rotation_matrix": [
      [
        0.6313473106200116,
        0.7755002033320679,
        -8.946954635324911e-05
      ],
      [
        -6.313938186480739e-05,
        0.00016677290774325115,
        0.9999999841001076
      ],
      [
        0.7755002059227946,
        -0.6313472949326054,
        0.0001542562302624395
      ]
    ],
    "position_light": [
      259.537872,
      -2.956726,
      289.279816
    ],
    "rotation_matrix_light": [
      [
        0.7072194071687979,
        0.30751226493155537,
        0.6366136324651547
      ],
      [
        0.5838114249951214,
        0.25385258928310594,
        -0.7711829114804274
      ],
      [
        -0.3987542227600605,
        0.9170578334166979,
        3.0410789386703385e-07
      ]
    ],
    "servo_angle": [
      [
        146.131682,
        22.183436,
        -82.732928,
        252.369517,
        60.49976,
        -196.02118,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.204439,
        1.302677,
        -64.232064,
        -236.619194,
        43.206805,
        114.798683,
        0.0
      ]
    ],
    "turn_angle": 2697.9920777621865,
    "filename": "scan-0575_light-81_camera-575.png"
  },
  {
    "id": 576,
    "scan_id": "0576",
    "camera_id": 576,
    "light_id": 81,
    "position": [
      -318.294312,
      -136.381149,
      111.330322
    ],
    "rotation_matrix": [
      [
        0.38588719856502546,
        0.9225459626219279,
        -0.00012974443045782325
      ],
      [
        -6.289818569416017e-05,
        0.00016694673144274086,
        0.9999999840863034
      ],
      [
        0.9225459696012199,
        -0.3858871842634443,
        0.00012244907377439995
      ]
    ],
    "position_light": [
      259.537872,
      -2.956726,
      289.279816
    ],
    "rotation_matrix_light": [
      [
        0.7072194071687979,
        0.30751226493155537,
        0.6366136324651547
      ],
      [
        0.5838114249951214,
        0.25385258928310594,
        -0.7711829114804274
      ],
      [
        -0.3987542227600605,
        0.9170578334166979,
        3.0410789386703385e-07
      ]
    ],
    "servo_angle": [
      [
        150.543801,
        44.51968,
        -97.520797,
        251.938022,
        66.35831,
        -205.769828,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.204439,
        1.302677,
        -64.232064,
        -236.619194,
        43.206805,
        114.798683,
        0.0
      ]
    ],
    "turn_angle": 2697.9920777621865,
    "filename": "scan-0576_light-81_camera-576.png"
  },
  {
    "id": 577,
    "scan_id": "0577",
    "camera_id": 577,
    "light_id": 82,
    "position": [
      -342.512421,
      -136.381149,
      20.668444
    ],
    "rotation_matrix": [
      [
        0.21024085700249745,
        0.9776496097932275,
        -0.00015006000636563765
      ],
      [
        -6.286041064901271e-05,
        0.00016700853654239012,
        0.9999999840783587
      ],
      [
        0.9776496192887429,
        -0.21024084422228434,
        9.656747379183095e-05
      ]
    ],
    "position_light": [
      259.537872,
      -2.956726,
      289.279816
    ],
    "rotation_matrix_light": [
      [
        0.7072194071687979,
        0.30751226493155537,
        0.6366136324651547
      ],
      [
        0.5838114249951214,
        0.25385258928310594,
        -0.7711829114804274
      ],
      [
        -0.3987542227600605,
        0.9170578334166979,
        3.0410789386703385e-07
      ]
    ],
    "servo_angle": [
      [
        151.931047,
        59.439501,
        -108.695594,
        251.55437,
        68.567234,
        -212.865796,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.204439,
        1.302677,
        -64.232064,
        -236.619194,
        43.206805,
        114.798683,
        0.0
      ]
    ],
    "turn_angle": 2745.5896875759877,
    "filename": "scan-0577_light-82_camera-577.png"
  },
  {
    "id": 578,
    "scan_id": "0578",
    "camera_id": 578,
    "light_id": 83,
    "position": [
      -336.96814,
      -136.381149,
      48.492271
    ],
    "rotation_matrix": [
      [
        0.2643050954721613,
        0.9644391093799378,
        -0.0001442424480562754
      ],
      [
        -6.290278935955351e-05,
        0.00016679951273951277,
        0.9999999841105807
      ],
      [
        0.9644391181151304,
        -0.2643050821992546,
        0.00010475187128672347
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        151.611737,
        54.872111,
        -105.153225,
        251.682426,
        68.010663,
        -210.63699,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2745.5896875759877,
    "filename": "scan-0578_light-83_camera-578.png"
  },
  {
    "id": 579,
    "scan_id": "0579",
    "camera_id": 579,
    "light_id": 83,
    "position": [
      -294.085205,
      -136.381149,
      166.655899
    ],
    "rotation_matrix": [
      [
        0.49227923886313907,
        0.8704373256748531,
        -0.0001142643346955241
      ],
      [
        -6.301294769395227e-05,
        0.0001669095459500558,
        0.9999999840852858
      ],
      [
        0.8704373308939001,
        -0.4922792238285231,
        0.00013701492591283726
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        149.103958,
        35.17852,
        -91.067172,
        252.131567,
        64.343791,
        -201.583397,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2745.5896875759877,
    "filename": "scan-0579_light-83_camera-579.png"
  },
  {
    "id": 580,
    "scan_id": "0580",
    "camera_id": 580,
    "light_id": 84,
    "position": [
      -269.294373,
      -136.381149,
      209.889389
    ],
    "rotation_matrix": [
      [
        0.5749232391092048,
        0.8182073447399428,
        -0.00010072632197799525
      ],
      [
        -6.266422541023609e-05,
        0.000167137878560486,
        0.9999999840690619
      ],
      [
        0.8182073485403162,
        -0.5749232236382016,
        0.00014736378000290706
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        147.528439,
        27.595481,
        -86.113952,
        252.272057,
        62.270027,
        -198.30774,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2766.984025366142,
    "filename": "scan-0580_light-84_camera-580.png"
  },
  {
    "id": 581,
    "scan_id": "0581",
    "camera_id": 581,
    "light_id": 84,
    "position": [
      -247.789032,
      -136.381149,
      240.885498
    ],
    "rotation_matrix": [
      [
        0.6338604695140851,
        0.7734474107712894,
        -8.921082667145974e-05
      ],
      [
        -6.274906503378475e-05,
        0.00016676631828216326,
        0.9999999841257747
      ],
      [
        0.7734474133707722,
        -0.6338604538541455,
        0.00015423967868410937
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        146.061953,
        21.937007,
        -82.582069,
        252.373986,
        60.412613,
        -195.917819,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2766.984025366142,
    "filename": "scan-0581_light-84_camera-581.png"
  },
  {
    "id": 582,
    "scan_id": "0582",
    "camera_id": 582,
    "light_id": 84,
    "position": [
      -172.553223,
      -136.381149,
      321.349823
    ],
    "rotation_matrix": [
      [
        0.7852218547154654,
        0.6192145314561786,
        -5.395099187088803e-05
      ],
      [
        -6.282237575405691e-05,
        0.0001667927481907583,
        0.9999999841167638
      ],
      [
        0.6192145306196822,
        -0.7852218388542719,
        0.00016986983905498132
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        140.024984,
        5.948448,
        -73.375095,
        252.69255,
        53.176729,
        -189.200118,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2766.984025366142,
    "filename": "scan-0582_light-84_camera-582.png"
  },
  {
    "id": 583,
    "scan_id": "0583",
    "camera_id": 583,
    "light_id": 85,
    "position": [
      -50.51284,
      -136.381149,
      399.265198
    ],
    "rotation_matrix": [
      [
        0.9276448243223868,
        0.37346362593056154,
        -3.83220441907417e-06
      ],
      [
        -6.307801851807016e-05,
        0.0001669404928243967,
        0.9999999840760176
      ],
      [
        0.3734636206232834,
        -0.9276448093088592,
        0.0001784188296506395
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        126.13557,
        -12.488704,
        -64.374788,
        252.968544,
        37.744053,
        -179.740814,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2808.620643355663,
    "filename": "scan-0583_light-85_camera-583.png"
  },
  {
    "id": 584,
    "scan_id": "0584",
    "camera_id": 584,
    "light_id": 85,
    "position": [
      -2.931107,
      -136.381149,
      418.023071
    ],
    "rotation_matrix": [
      [
        0.960398889835211,
        0.27862873546133354,
        1.3360846485288569e-05
      ],
      [
        -6.242214524659895e-05,
        0.00016720928889957243,
        0.9999999840722645
      ],
      [
        0.27862872878935113,
        -0.9603988753722444,
        0.000177980218824203
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        118.981905,
        -17.573532,
        -62.370008,
        252.560541,
        30.148638,
        -175.397851,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2808.620643355663,
    "filename": "scan-0584_light-85_camera-584.png"
  },
  {
    "id": 585,
    "scan_id": "0585",
    "camera_id": 585,
    "light_id": 85,
    "position": [
      44.276718,
      -136.381149,
      431.453369
    ],
    "rotation_matrix": [
      [
        0.9827433015488525,
        0.18497459906386565,
        3.101650020707891e-05
      ],
      [
        -6.289677393912785e-05,
        0.00016648168839206168,
        0.9999999841639216
      ],
      [
        0.18497459097091407,
        -0.9827432879368903,
        0.0001752430696396745
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        110.918842,
        -21.320218,
        -61.289926,
        251.11451,
        21.757728,
        -169.800569,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2808.620643355663,
    "filename": "scan-0585_light-85_camera-585.png"
  },
  {
    "id": 586,
    "scan_id": "0586",
    "camera_id": 586,
    "light_id": 86,
    "position": [
      469.872681,
      -136.381149,
      339.767487
    ],
    "rotation_matrix": [
      [
        0.7671897673735766,
        -0.64142017173793,
        0.00015532212397223466
      ],
      [
        -6.29061610790127e-05,
        0.0001669126777329999,
        0.9999999840914865
      ],
      [
        -0.6414201874591199,
        -0.7671897649394462,
        8.770441775901583e-05
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        56.221484,
        -13.249191,
        -55.161913,
        119.228392,
        39.533859,
        5.002953,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2865.612671283771,
    "filename": "scan-0586_light-86_camera-586.png"
  },
  {
    "id": 587,
    "scan_id": "0587",
    "camera_id": 587,
    "light_id": 86,
    "position": [
      521.11969,
      -136.381149,
      294.792175
    ],
    "rotation_matrix": [
      [
        0.6747252094252241,
        -0.7380690105592644,
        0.00016558428766649813
      ],
      [
        -6.275524448662306e-05,
        0.00016697861282638504,
        0.9999999840899612
      ],
      [
        -0.7380690264655922,
        -0.674725209081602,
        6.634697830315561e-05
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        49.199771,
        -5.007823,
        -56.777024,
        119.27016,
        48.324063,
        8.73583,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2865.612671283771,
    "filename": "scan-0587_light-86_camera-587.png"
  },
  {
    "id": 588,
    "scan_id": "0588",
    "camera_id": 588,
    "light_id": 87,
    "position": [
      587.194946,
      -136.381149,
      213.140747
    ],
    "rotation_matrix": [
      [
        0.509130554296247,
        -0.8606892864058016,
        0.0001759211979975861
      ],
      [
        -6.313506226052201e-05,
        0.00016704890861207744,
        0.9999999840543126
      ],
      [
        -0.8606893020689637,
        -0.5091305572846063,
        3.0710031752034794e-05
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        41.747538,
        9.757242,
        -61.473501,
        119.63353,
        58.677525,
        13.399821,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2885.9159471012276,
    "filename": "scan-0588_light-87_camera-588.png"
  },
  {
    "id": 589,
    "scan_id": "0589",
    "camera_id": 589,
    "light_id": 87,
    "position": [
      633.235107,
      -136.381149,
      124.489647
    ],
    "rotation_matrix": [
      [
        0.33150498839343245,
        -0.943453449109301,
        0.00017898054036286082
      ],
      [
        -6.298480233185577e-05,
        0.00016757664247041282,
        0.9999999839754916
      ],
      [
        -0.9434534639838814,
        -0.331504994354282,
        -3.8707360843215355e-06
      ]
    ],
    "position_light": [
      235.069443,
      -30.044996,
      296.479736
    ],
    "rotation_matrix_light": [
      [
        0.7596231161957795,
        0.24700842945538085,
        0.6016307481495604
      ],
      [
        0.5721422240386649,
        0.18604524339845252,
        -0.7987743378958171
      ],
      [
        -0.3092345336683855,
        0.9509858059859763,
        3.153588354898318e-07
      ]
    ],
    "servo_angle": [
      [
        37.427723,
        24.948072,
        -67.88742,
        120.030877,
        65.752694,
        17.782318,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -87.900664,
        5.774211,
        -70.460631,
        -238.394962,
        42.386272,
        122.575153,
        0.0
      ]
    ],
    "turn_angle": 2885.9159471012276,
    "filename": "scan-0589_light-87_camera-589.png"
  }
]