[
  {
    "id": 0,
    "scan_id": "0000",
    "camera_id": 0,
    "light_id": 0,
    "position": [
      646.405273,
      -136.38121,
      118.143623
    ],
    "rotation_matrix": [
      [
        0.313037244379901,
        -0.9497408339981294,
        0.00017851491752912674
      ],
      [
        -6.29180191883405e-05,
        0.0001672237579410929,
        0.9999999840387688
      ],
      [
        -0.9497408486910317,
        -0.3130372506152462,
        -7.408547636700291e-06
      ]
    ],
    "position_light": [
      162.392624,
      212.217499,
      179.089157
    ],
    "rotation_matrix_light": [
      [
        0.02074549944063514,
        -0.027604841700772598,
        -0.9994036206496523
      ],
      [
        -0.6004127986565643,
        0.798944346107453,
        -0.0345311892689264
      ],
      [
        0.7994211002108657,
        0.600771091629424,
        1.9922323851728763e-07
      ]
    ],
    "servo_angle": [
      [
        36.494146,
        27.370595,
        -70.428259,
        119.171841,
        66.261366,
        19.352795,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.194685,
        -20.613188,
        -23.670548,
        -82.737397,
        95.87744,
        99.363544,
        0.0
      ]
    ],
    "turn_angle": 19.63498777361891,
    "filename": "scan-0000_light-0_camera-0.png"
  },
  {
    "id": 1,
    "scan_id": "0001",
    "camera_id": 1,
    "light_id": 0,
    "position": [
      628.425964,
      -136.381149,
      160.185989
    ],
    "rotation_matrix": [
      [
        0.3952999051568462,
        -0.9185520960122469,
        0.00017859030302297407
      ],
      [
        -6.285248576659574e-05,
        0.00016737724422338784,
        0.9999999840172114
      ],
      [
        -0.9185521112231756,
        -0.39529991006369586,
        8.4309262264326e-06
      ]
    ],
    "position_light": [
      162.392624,
      212.217499,
      179.089157
    ],
    "rotation_matrix_light": [
      [
        0.02074549944063514,
        -0.027604841700772598,
        -0.9994036206496523
      ],
      [
        -0.6004127986565643,
        0.798944346107453,
        -0.0345311892689264
      ],
      [
        0.7994211002108657,
        0.600771091629424,
        1.9922323851728763e-07
      ]
    ],
    "servo_angle": [
      [
        38.044054,
        20.389391,
        -67.193568,
        118.926042,
        63.511455,
        17.358673,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.194685,
        -20.613188,
        -23.670548,
        -82.737397,
        95.87744,
        99.363544,
        0.0
      ]
    ],
    "turn_angle": 19.63498777361891,
    "filename": "scan-0001_light-0_camera-1.png"
  },
  {
    "id": 2,
    "scan_id": "0002",
    "camera_id": 2,
    "light_id": 0,
    "position": [
      608.730408,
      -136.381149,
      197.245499
    ],
    "rotation_matrix": [
      [
        0.468121989757071,
        -0.8836638339768509,
        0.00017671223308618478
      ],
      [
        -6.273133360623628e-05,
        0.0001667447596116478,
        0.9999999841304824
      ],
      [
        -0.8836638494193709,
        -0.46812199341359484,
        2.2623477885952425e-05
      ]
    ],
    "position_light": [
      162.392624,
      212.217499,
      179.089157
    ],
    "rotation_matrix_light": [
      [
        0.02074549944063514,
        -0.027604841700772598,
        -0.9994036206496523
      ],
      [
        -0.6004127986565643,
        0.798944346107453,
        -0.0345311892689264
      ],
      [
        0.7994211002108657,
        0.600771091629424,
        1.9922323851728763e-07
      ]
    ],
    "servo_angle": [
      [
        39.836094,
        14.083532,
        -64.514933,
        118.707,
        60.607533,
        15.615793,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.194685,
        -20.613188,
        -23.670548,
        -82.737397,
        95.87744,
        99.363544,
        0.0
      ]
    ],
    "turn_angle": 19.63498777361891,
    "filename": "scan-0002_light-0_camera-2.png"
  },
  {
    "id": 3,
    "scan_id": "0003",
    "camera_id": 3,
    "light_id": 0,
    "position": [
      587.664856,
      -136.381149,
      230.354797
    ],
    "rotation_matrix": [
      [
        0.5334611246289305,
        -0.8458245668578885,
        0.0001749551410014094
      ],
      [
        -6.294932560496624e-05,
        0.00016714354928731856,
        0.9999999840502077
      ],
      [
        -0.845824582609786,
        -0.5334611271336446,
        3.592049971351541e-05
      ]
    ],
    "position_light": [
      162.392624,
      212.217499,
      179.089157
    ],
    "rotation_matrix_light": [
      [
        0.02074549944063514,
        -0.027604841700772598,
        -0.9994036206496523
      ],
      [
        -0.6004127986565643,
        0.798944346107453,
        -0.0345311892689264
      ],
      [
        0.7994211002108657,
        0.600771091629424,
        1.9922323851728763e-07
      ]
    ],
    "servo_angle": [
      [
        41.881553,
        8.317571,
        -62.284752,
        118.495579,
        57.514936,
        14.030533,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.194685,
        -20.613188,
        -23.670548,
        -82.737397,
        95.87744,
        99.363544,
        0.0
      ]
    ],
    "turn_angle": 19.63498777361891,
    "filename": "scan-0003_light-0_camera-3.png"
  },
  {
    "id": 4,
    "scan_id": "0004",
    "camera_id": 4,
    "light_id": 0,
    "position": [
      584.983643,
      -136.381149,
      234.199875
    ],
    "rotation_matrix": [
      [
        0.5410678221984409,
        -0.8409789423063376,
        0.00017429500829074795
      ],
      [
        -6.276093619850265e-05,
        0.0001668734796946847,
        0.9999999841071531
      ],
      [
        -0.8409789580260028,
        -0.5410678245382506,
        3.750924449874571e-05
      ]
    ],
    "position_light": [
      162.392624,
      212.217499,
      179.089157
    ],
    "rotation_matrix_light": [
      [
        0.02074549944063514,
        -0.027604841700772598,
        -0.9994036206496523
      ],
      [
        -0.6004127986565643,
        0.798944346107453,
        -0.0345311892689264
      ],
      [
        0.7994211002108657,
        0.600771091629424,
        1.9922323851728763e-07
      ]
    ],
    "servo_angle": [
      [
        42.152333,
        7.639647,
        -62.037292,
        118.469509,
        57.11885,
        13.842317,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.194685,
        -20.613188,
        -23.670548,
        -82.737397,
        95.87744,
        99.363544,
        0.0
      ]
    ],
    "turn_angle": 19.63498777361891,
    "filename": "scan-0004_light-0_camera-4.png"
  },
  {
    "id": 5,
    "scan_id": "0005",
    "camera_id": 5,
    "light_id": 0,
    "position": [
      563.983337,
      -136.381149,
      262.000153
    ],
    "rotation_matrix": [
      [
        0.5961950261156228,
        -0.8028396238114142,
        0.00017109453098840266
      ],
      [
        -6.259988642737246e-05,
        0.00016662454540988803,
        0.9999999841587573
      ],
      [
        -0.8028396396019855,
        -0.5961950273816511,
        4.908305593215312e-05
      ]
    ],
    "position_light": [
      162.392624,
      212.217499,
      179.089157
    ],
    "rotation_matrix_light": [
      [
        0.02074549944063514,
        -0.027604841700772598,
        -0.9994036206496523
      ],
      [
        -0.6004127986565643,
        0.798944346107453,
        -0.0345311892689264
      ],
      [
        0.7994211002108657,
        0.600771091629424,
        1.9922323851728763e-07
      ]
    ],
    "servo_angle": [
      [
        44.360111,
        2.689235,
        -60.332055,
        118.269203,
        53.980245,
        12.436164,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.194685,
        -20.613188,
        -23.670548,
        -82.737397,
        95.87744,
        99.363544,
        0.0
      ]
    ],
    "turn_angle": 19.63498777361891,
    "filename": "scan-0005_light-0_camera-5.png"
  },
  {
    "id": 6,
    "scan_id": "0006",
    "camera_id": 6,
    "light_id": 0,
    "position": [
      536.080139,
      -136.381149,
      293.741394
    ],
    "rotation_matrix": [
      [
        0.6594518188543752,
        -0.751746812985173,
        0.00016666220797867393
      ],
      [
        -6.264678291012515e-05,
        0.00016674453184767346,
        0.9999999841358206
      ],
      [
        -0.7517468288493386,
        -0.6594518188335644,
        6.286546541450777e-05
      ]
    ],
    "position_light": [
      162.392624,
      212.217499,
      179.089157
    ],
    "rotation_matrix_light": [
      [
        0.02074549944063514,
        -0.027604841700772598,
        -0.9994036206496523
      ],
      [
        -0.6004127986565643,
        0.798944346107453,
        -0.0345311892689264
      ],
      [
        0.7994211002108657,
        0.600771091629424,
        1.9922323851728763e-07
      ]
    ],
    "servo_angle": [
      [
        47.549997,
        -3.05587,
        -58.603441,
        118.013893,
        49.671602,
        10.669907,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.194685,
        -20.613188,
        -23.670548,
        -82.737397,
        95.87744,
        99.363544,
        0.0
      ]
    ],
    "turn_angle": 19.63498777361891,
    "filename": "scan-0006_light-0_camera-6.png"
  },
  {
    "id": 7,
    "scan_id": "0007",
    "camera_id": 7,
    "light_id": 0,
    "position": [
      504.626434,
      -136.381149,
      324.055634
    ],
    "rotation_matrix": [
      [
        0.7202504845050461,
        -0.6937140720247358,
        0.000160764130322677
      ],
      [
        -6.26651509906262e-05,
        0.0001666818175876661,
        0.9999999841451249
      ],
      [
        -0.6937140878224435,
        -0.7202504831598734,
        7.658096280788174e-05
      ]
    ],
    "position_light": [
      162.392624,
      212.217499,
      179.089157
    ],
    "rotation_matrix_light": [
      [
        0.02074549944063514,
        -0.027604841700772598,
        -0.9994036206496523
      ],
      [
        -0.6004127986565643,
        0.798944346107453,
        -0.0345311892689264
      ],
      [
        0.7994211002108657,
        0.600771091629424,
        1.9922323851728763e-07
      ]
    ],
    "servo_angle": [
      [
        51.529017,
        -8.592247,
        -57.251375,
        117.759443,
        44.568324,
        8.674925,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.194685,
        -20.613188,
        -23.670548,
        -82.737397,
        95.87744,
        99.363544,
        0.0
      ]
    ],
    "turn_angle": 19.63498777361891,
    "filename": "scan-0007_light-0_camera-7.png"
  },
  {
    "id": 8,
    "scan_id": "0008",
    "camera_id": 8,
    "light_id": 0,
    "position": [
      485.378937,
      -136.381149,
      340.290253
    ],
    "rotation_matrix": [
      [
        0.7530039054322477,
        -0.6580160285123331,
        0.00015692239949027798
      ],
      [
        -6.250524232148669e-05,
        0.0001669498927969193,
        0.9999999841104141
      ],
      [
        -0.6580160442549086,
        -0.7530039032757998,
        8.458446997400282e-05
      ]
    ],
    "position_light": [
      162.392624,
      212.217499,
      179.089157
    ],
    "rotation_matrix_light": [
      [
        0.02074549944063514,
        -0.027604841700772598,
        -0.9994036206496523
      ],
      [
        -0.6004127986565643,
        0.798944346107453,
        -0.0345311892689264
      ],
      [
        0.7994211002108657,
        0.600771091629424,
        1.9922323851728763e-07
      ]
    ],
    "servo_angle": [
      [
        54.177399,
        -11.545271,
        -56.69446,
        117.641413,
        41.297652,
        7.388405,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.194685,
        -20.613188,
        -23.670548,
        -82.737397,
        95.87744,
        99.363544,
        0.0
      ]
    ],
    "turn_angle": 19.63498777361891,
    "filename": "scan-0008_light-0_camera-8.png"
  },
  {
    "id": 9,
    "scan_id": "0009",
    "camera_id": 9,
    "light_id": 0,
    "position": [
      464.195679,
      -136.381149,
      356.42218
    ],
    "rotation_matrix": [
      [
        0.7857144959079169,
        -0.6185892883324817,
        0.00015257942759827614
      ],
      [
        -6.286178995262848e-05,
        0.00016681182088940094,
        0.9999999841111057
      ],
      [
        -0.6185893039558341,
        -0.7857144930151984,
        9.218083585149639e-05
      ]
    ],
    "position_light": [
      162.392624,
      212.217499,
      179.089157
    ],
    "rotation_matrix_light": [
      [
        0.02074549944063514,
        -0.027604841700772598,
        -0.9994036206496523
      ],
      [
        -0.6004127986565643,
        0.798944346107453,
        -0.0345311892689264
      ],
      [
        0.7994211002108657,
        0.600771091629424,
        1.9922323851728763e-07
      ]
    ],
    "servo_angle": [
      [
        57.286097,
        -14.437562,
        -56.300323,
        117.571742,
        37.560134,
        5.86302,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.194685,
        -20.613188,
        -23.670548,
        -82.737397,
        95.87744,
        99.363544,
        0.0
      ]
    ],
    "turn_angle": 19.63498777361891,
    "filename": "scan-0009_light-0_camera-9.png"
  },
  {
    "id": 10,
    "scan_id": "0010",
    "camera_id": 10,
    "light_id": 1,
    "position": [
      413.779297,
      -136.381149,
      388.572174
    ],
    "rotation_matrix": [
      [
        0.8515639583419495,
        -0.524250708051613,
        0.0001412811829648586
      ],
      [
        -6.30174023399932e-05,
        0.0001671296400451716,
        0.999999984048245
      ],
      [
        -0.5242507233011675,
        -0.851563953661183,
        0.00010928466003679027
      ]
    ],
    "position_light": [
      46.807751,
      222.677429,
      110.378235
    ],
    "rotation_matrix_light": [
      [
        0.15837901448150882,
        -0.31489941905196117,
        -0.9358175268996638
      ],
      [
        -0.42048256078231494,
        0.8360316140736378,
        -0.35248483137203845
      ],
      [
        0.8933703061160094,
        0.4493211503481279,
        1.490005359094937e-07
      ]
    ],
    "servo_angle": [
      [
        65.489764,
        -19.863702,
        -56.25208,
        117.914943,
        28.091261,
        1.43142,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -110.885095,
        -11.945253,
        -19.819412,
        -126.461296,
        69.456522,
        128.755419,
        0.0
      ]
    ],
    "turn_angle": 66.42990958728069,
    "filename": "scan-0010_light-1_camera-10.png"
  },
  {
    "id": 11,
    "scan_id": "0011",
    "camera_id": 11,
    "light_id": 1,
    "position": [
      395.165985,
      -136.381149,
      398.496063
    ],
    "rotation_matrix": [
      [
        0.8721350732731482,
        -0.4892651585840694,
        0.0001362444349774783
      ],
      [
        -6.278921788024916e-05,
        0.0001665431356658864,
        0.999999984160449
      ],
      [
        -0.4892651735249043,
        -0.8721350680136017,
        0.00011452753318352826
      ]
    ],
    "position_light": [
      46.807751,
      222.677429,
      110.378235
    ],
    "rotation_matrix_light": [
      [
        0.15837901448150882,
        -0.31489941905196117,
        -0.9358175268996638
      ],
      [
        -0.42048256078231494,
        0.8360316140736378,
        -0.35248483137203845
      ],
      [
        0.8933703061160094,
        0.4493211503481279,
        1.490005359094937e-07
      ]
    ],
    "servo_angle": [
      [
        68.777453,
        -21.351043,
        -56.559643,
        118.370101,
        24.415852,
        -0.655578,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -110.885095,
        -11.945253,
        -19.819412,
        -126.461296,
        69.456522,
        128.755419,
        0.0
      ]
    ],
    "turn_angle": 66.42990958728069,
    "filename": "scan-0011_light-1_camera-11.png"
  },
  {
    "id": 12,
    "scan_id": "0012",
    "camera_id": 12,
    "light_id": 1,
    "position": [
      356.85907,
      -136.381149,
      416.017822
    ],
    "rotation_matrix": [
      [
        0.908891943819629,
        -0.4170316755490285,
        0.00012668285828132397
      ],
      [
        -6.270705958022482e-05,
        0.0001671070066767144,
        0.9999999840715366
      ],
      [
        -0.41703169007594787,
        -0.9088919372862863,
        0.00012573138199872824
      ]
    ],
    "position_light": [
      46.807751,
      222.677429,
      110.378235
    ],
    "rotation_matrix_light": [
      [
        0.15837901448150882,
        -0.31489941905196117,
        -0.9358175268996638
      ],
      [
        -0.42048256078231494,
        0.8360316140736378,
        -0.35248483137203845
      ],
      [
        0.8933703061160094,
        0.4493211503481279,
        1.490005359094937e-07
      ]
    ],
    "servo_angle": [
      [
        75.839616,
        -23.52261,
        -57.824906,
        120.411492,
        16.670322,
        -6.277727,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -110.885095,
        -11.945253,
        -19.819412,
        -126.461296,
        69.456522,
        128.755419,
        0.0
      ]
    ],
    "turn_angle": 66.42990958728069,
    "filename": "scan-0012_light-1_camera-12.png"
  },
  {
    "id": 13,
    "scan_id": "0013",
    "camera_id": 13,
    "light_id": 1,
    "position": [
      341.440308,
      -136.381149,
      422.043182
    ],
    "rotation_matrix": [
      [
        0.921711977750377,
        -0.3878749993016688,
        0.0001224263830568728
      ],
      [
        -6.267459665212916e-05,
        0.00016669920669504235,
        0.9999999841416348
      ],
      [
        -0.38787501355898624,
        -0.9217119708065559,
        0.00012933874635961962
      ]
    ],
    "position_light": [
      46.807751,
      222.677429,
      110.378235
    ],
    "rotation_matrix_light": [
      [
        0.15837901448150882,
        -0.31489941905196117,
        -0.9358175268996638
      ],
      [
        -0.42048256078231494,
        0.8360316140736378,
        -0.35248483137203845
      ],
      [
        0.8933703061160094,
        0.4493211503481279,
        1.490005359094937e-07
      ]
    ],
    "servo_angle": [
      [
        78.722625,
        -24.052883,
        -58.61851,
        121.907772,
        13.541456,
        -9.299964,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -110.885095,
        -11.945253,
        -19.819412,
        -126.461296,
        69.456522,
        128.755419,
        0.0
      ]
    ],
    "turn_angle": 66.42990958728069,
    "filename": "scan-0013_light-1_camera-13.png"
  },
  {
    "id": 14,
    "scan_id": "0014",
    "camera_id": 14,
    "light_id": 1,
    "position": [
      312.161072,
      -136.381149,
      431.969482
    ],
    "rotation_matrix": [
      [
        0.9431435306526487,
        -0.3323857207660175,
        0.00011497352225914304
      ],
      [
        -6.319362526113759e-05,
        0.00016659217930004022,
        0.9999999841268055
      ],
      [
        -0.33238573464368404,
        -0.9431435229475418,
        0.00013611567748395004
      ]
    ],
    "position_light": [
      46.807751,
      222.677429,
      110.378235
    ],
    "rotation_matrix_light": [
      [
        0.15837901448150882,
        -0.31489941905196117,
        -0.9358175268996638
      ],
      [
        -0.42048256078231494,
        0.8360316140736378,
        -0.35248483137203845
      ],
      [
        0.8933703061160094,
        0.4493211503481279,
        1.490005359094937e-07
      ]
    ],
    "servo_angle": [
      [
        84.028157,
        -24.506837,
        -60.711009,
        126.626423,
        7.750973,
        -17.050536,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -110.885095,
        -11.945253,
        -19.819412,
        -126.461296,
        69.456522,
        128.755419,
        0.0
      ]
    ],
    "turn_angle": 66.42990958728069,
    "filename": "scan-0014_light-1_camera-14.png"
  },
  {
    "id": 15,
    "scan_id": "0015",
    "camera_id": 15,
    "light_id": 1,
    "position": [
      270.522675,
      -136.381149,
      442.854675
    ],
    "rotation_matrix": [
      [
        0.9674098067602146,
        -0.2532158272356588,
        0.00010306078433780508
      ],
      [
        -6.287782723374269e-05,
        0.0001667832396892166,
        0.9999999841148648
      ],
      [
        -0.2532158404021026,
        -0.9674097978730172,
        0.0001454260806408314
      ]
    ],
    "position_light": [
      46.807751,
      222.677429,
      110.378235
    ],
    "rotation_matrix_light": [
      [
        0.15837901448150882,
        -0.31489941905196117,
        -0.9358175268996638
      ],
      [
        -0.42048256078231494,
        0.8360316140736378,
        -0.35248483137203845
      ],
      [
        0.8933703061160094,
        0.4493211503481279,
        1.490005359094937e-07
      ]
    ],
    "servo_angle": [
      [
        89.987777,
        -23.945797,
        -65.408633,
        141.312534,
        0.588542,
        -36.355203,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -110.885095,
        -11.945253,
        -19.819412,
        -126.461296,
        69.456522,
        128.755419,
        0.0
      ]
    ],
    "turn_angle": 66.42990958728069,
    "filename": "scan-0015_light-1_camera-15.png"
  },
  {
    "id": 16,
    "scan_id": "0016",
    "camera_id": 16,
    "light_id": 1,
    "position": [
      236.142853,
      -136.381149,
      449.134125
    ],
    "rotation_matrix": [
      [
        0.9822399140499515,
        -0.18762926896109944,
        9.314648643023171e-05
      ],
      [
        -6.286455652317058e-05,
        0.0001673428059475457,
        0.9999999840222166
      ],
      [
        -0.18762928155059394,
        -0.9822399042115472,
        0.00015257555254677424
      ]
    ],
    "position_light": [
      46.807751,
      222.677429,
      110.378235
    ],
    "rotation_matrix_light": [
      [
        0.15837901448150882,
        -0.31489941905196117,
        -0.9358175268996638
      ],
      [
        -0.42048256078231494,
        0.8360316140736378,
        -0.35248483137203845
      ],
      [
        0.8933703061160094,
        0.4493211503481279,
        1.490005359094937e-07
      ]
    ],
    "servo_angle": [
      [
        91.259228,
        -22.893503,
        -69.99791,
        165.640609,
        -3.121359,
        -64.631587,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -110.885095,
        -11.945253,
        -19.819412,
        -126.461296,
        69.456522,
        128.755419,
        0.0
      ]
    ],
    "turn_angle": 66.42990958728069,
    "filename": "scan-0016_light-1_camera-16.png"
  },
  {
    "id": 17,
    "scan_id": "0017",
    "camera_id": 17,
    "light_id": 1,
    "position": [
      208.864975,
      -136.381149,
      452.439697
    ],
    "rotation_matrix": [
      [
        0.9907833182567118,
        -0.13545629971372816,
        8.44516679752716e-05
      ],
      [
        -6.242567627207096e-05,
        0.0001668534280182543,
        0.9999999841314843
      ],
      [
        -0.13545631165528801,
        -0.9907833078064036,
        0.00015685964195943924
      ]
    ],
    "position_light": [
      46.807751,
      222.677429,
      110.378235
    ],
    "rotation_matrix_light": [
      [
        0.15837901448150882,
        -0.31489941905196117,
        -0.9358175268996638
      ],
      [
        -0.42048256078231494,
        0.8360316140736378,
        -0.35248483137203845
      ],
      [
        0.8933703061160094,
        0.4493211503481279,
        1.490005359094937e-07
      ]
    ],
    "servo_angle": [
      [
        89.758365,
        -22.587028,
        -71.225873,
        191.792924,
        -3.908833,
        -93.785456,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -110.885095,
        -11.945253,
        -19.819412,
        -126.461296,
        69.456522,
        128.755419,
        0.0
      ]
    ],
    "turn_angle": 66.42990958728069,
    "filename": "scan-0017_light-1_camera-17.png"
  },
  {
    "id": 18,
    "scan_id": "0018",
    "camera_id": 18,
    "light_id": 1,
    "position": [
      149.077225,
      -136.381149,
      454.627106
    ],
    "rotation_matrix": [
      [
        0.9997857605340403,
        -0.020698517353038695,
        6.642857704301612e-05
      ],
      [
        -6.299288762586126e-05,
        0.00016663917839221387,
        0.9999999841316397
      ],
      [
        -0.02069852809419067,
        -0.9997857488536078,
        0.00016529961832589812
      ]
    ],
    "position_light": [
      46.807751,
      222.677429,
      110.378235
    ],
    "rotation_matrix_light": [
      [
        0.15837901448150882,
        -0.31489941905196117,
        -0.9358175268996638
      ],
      [
        -0.42048256078231494,
        0.8360316140736378,
        -0.35248483137203845
      ],
      [
        0.8933703061160094,
        0.4493211503481279,
        1.490005359094937e-07
      ]
    ],
    "servo_angle": [
      [
        91.84015,
        -23.933822,
        -65.357926,
        236.746505,
        1.606058,
        -145.245374,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -110.885095,
        -11.945253,
        -19.819412,
        -126.461296,
        69.456522,
        128.755419,
        0.0
      ]
    ],
    "turn_angle": 66.42990958728069,
    "filename": "scan-0018_light-1_camera-18.png"
  },
  {
    "id": 19,
    "scan_id": "0019",
    "camera_id": 19,
    "light_id": 1,
    "position": [
      128.625549,
      -136.381149,
      453.794067
    ],
    "rotation_matrix": [
      [
        0.9998254383643571,
        0.018683929354398485,
        5.986151617975999e-05
      ],
      [
        -6.299538758256125e-05,
        0.00016714234573544928,
        0.9999999840475086
      ],
      [
        0.01868391905094903,
        -0.9998254261856497,
        0.00016829017046537942
      ]
    ],
    "position_light": [
      46.807751,
      222.677429,
      110.378235
    ],
    "rotation_matrix_light": [
      [
        0.15837901448150882,
        -0.31489941905196117,
        -0.9358175268996638
      ],
      [
        -0.42048256078231494,
        0.8360316140736378,
        -0.35248483137203845
      ],
      [
        0.8933703061160094,
        0.4493211503481279,
        1.490005359094937e-07
      ]
    ],
    "servo_angle": [
      [
        95.050432,
        -24.08938,
        -63.811627,
        243.754581,
        5.112617,
        -154.375628,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -110.885095,
        -11.945253,
        -19.819412,
        -126.461296,
        69.456522,
        128.755419,
        0.0
      ]
    ],
    "turn_angle": 66.42990958728069,
    "filename": "scan-0019_light-1_camera-19.png"
  },
  {
    "id": 20,
    "scan_id": "0020",
    "camera_id": 20,
    "light_id": 2,
    "position": [
      121.234032,
      -136.381149,
      453.294159
    ],
    "rotation_matrix": [
      [
        0.9994575580197891,
        0.03293305966565441,
        5.7429771082619097e-05
      ],
      [
        -6.297220877153967e-05,
        0.0001672568504832994,
        0.9999999840298234
      ],
      [
        0.032933049534184994,
        -0.9994575456747549,
        0.00016923999085488584
      ]
    ],
    "position_light": [
      46.667831,
      194.821213,
      368.199158
    ],
    "rotation_matrix_light": [
      [
        0.30370356505713225,
        -0.2292551463145262,
        -0.9247736060571223
      ],
      [
        -0.7380913575858827,
        0.5571600939738883,
        -0.38051777559009836
      ],
      [
        0.6024826075735439,
        0.7981320113686163,
        2.6467059788259917e-07
      ]
    ],
    "servo_angle": [
      [
        96.344286,
        -24.061076,
        -63.412849,
        245.567763,
        6.468923,
        -156.937666,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.958522,
        -34.111157,
        -41.705942,
        -105.343848,
        43.355659,
        58.265912,
        0.0
      ]
    ],
    "turn_angle": 89.94925410239537,
    "filename": "scan-0020_light-2_camera-20.png"
  },
  {
    "id": 21,
    "scan_id": "0021",
    "camera_id": 21,
    "light_id": 2,
    "position": [
      79.476944,
      -136.381149,
      448.466339
    ],
    "rotation_matrix": [
      [
        0.993527447198794,
        0.11359229637616994,
        4.320458166032909e-05
      ],
      [
        -6.259857391966578e-05,
        0.0001671664450711985,
        0.9999999840683989
      ],
      [
        0.11359228734410648,
        -0.9935274340748563,
        0.0001731951671902765
      ]
    ],
    "position_light": [
      46.667831,
      194.821213,
      368.199158
    ],
    "rotation_matrix_light": [
      [
        0.30370356505713225,
        -0.2292551463145262,
        -0.9247736060571223
      ],
      [
        -0.7380913575858827,
        0.5571600939738883,
        -0.38051777559009836
      ],
      [
        0.6024826075735439,
        0.7981320113686163,
        2.6467059788259917e-07
      ]
    ],
    "servo_angle": [
      [
        104.129923,
        -23.085902,
        -62.329328,
        251.561761,
        14.470049,
        -167.018687,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.958522,
        -34.111157,
        -41.705942,
        -105.343848,
        43.355659,
        58.265912,
        0.0
      ]
    ],
    "turn_angle": 89.94925410239537,
    "filename": "scan-0021_light-2_camera-21.png"
  },
  {
    "id": 22,
    "scan_id": "0022",
    "camera_id": 22,
    "light_id": 2,
    "position": [
      72.820541,
      -136.381149,
      447.378174
    ],
    "rotation_matrix": [
      [
        0.9919697470985398,
        0.12647536983116597,
        4.08329369109145e-05
      ],
      [
        -6.250042886574159e-05,
        0.0001673495668316205,
        0.9999999840439093
      ],
      [
        0.12647536097973922,
        -0.9919697338226567,
        0.0001739104723424978
      ]
    ],
    "position_light": [
      46.667831,
      194.821213,
      368.199158
    ],
    "rotation_matrix_light": [
      [
        0.30370356505713225,
        -0.2292551463145262,
        -0.9247736060571223
      ],
      [
        -0.7380913575858827,
        0.5571600939738883,
        -0.38051777559009836
      ],
      [
        0.6024826075735439,
        0.7981320113686163,
        2.6467059788259917e-07
      ]
    ],
    "servo_angle": [
      [
        105.385674,
        -22.809335,
        -62.295925,
        252.085272,
        15.755193,
        -168.173483,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.958522,
        -34.111157,
        -41.705942,
        -105.343848,
        43.355659,
        58.265912,
        0.0
      ]
    ],
    "turn_angle": 89.94925410239537,
    "filename": "scan-0022_light-2_camera-22.png"
  },
  {
    "id": 23,
    "scan_id": "0023",
    "camera_id": 23,
    "light_id": 2,
    "position": [
      20.94697,
      -136.381149,
      435.795288
    ],
    "rotation_matrix": [
      [
        0.973865728383289,
        0.22712450883471555,
        2.3813333583158625e-05
      ],
      [
        -6.329743671221189e-05,
        0.00016656005684939634,
        0.9999999841255908
      ],
      [
        0.22712450126289796,
        -0.9738657144310691,
        0.00017658353030697294
      ]
    ],
    "position_light": [
      46.667831,
      194.821213,
      368.199158
    ],
    "rotation_matrix_light": [
      [
        0.30370356505713225,
        -0.2292551463145262,
        -0.9247736060571223
      ],
      [
        -0.7380913575858827,
        0.5571600939738883,
        -0.38051777559009836
      ],
      [
        0.6024826075735439,
        0.7981320113686163,
        2.6467059788259917e-07
      ]
    ],
    "servo_angle": [
      [
        114.799428,
        -19.626841,
        -62.908875,
        254.206649,
        25.445801,
        -175.028809,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.958522,
        -34.111157,
        -41.705942,
        -105.343848,
        43.355659,
        58.265912,
        0.0
      ]
    ],
    "turn_angle": 89.94925410239537,
    "filename": "scan-0023_light-2_camera-23.png"
  },
  {
    "id": 24,
    "scan_id": "0024",
    "camera_id": 24,
    "light_id": 2,
    "position": [
      0.136659,
      -136.381149,
      429.545624
    ],
    "rotation_matrix": [
      [
        0.9635216164727856,
        0.2676305183350157,
        1.5665274687354236e-05
      ],
      [
        -6.262511017898764e-05,
        0.00016692929203665496,
        0.9999999841063533
      ],
      [
        0.2676305114663976,
        -0.963521602139953,
        0.0001776003719977659
      ]
    ],
    "position_light": [
      46.667831,
      194.821213,
      368.199158
    ],
    "rotation_matrix_light": [
      [
        0.30370356505713225,
        -0.2292551463145262,
        -0.9247736060571223
      ],
      [
        -0.7380913575858827,
        0.5571600939738883,
        -0.38051777559009836
      ],
      [
        0.6024826075735439,
        0.7981320113686163,
        2.6467059788259917e-07
      ]
    ],
    "servo_angle": [
      [
        118.295617,
        -17.877658,
        -63.503319,
        254.485163,
        29.085916,
        -177.11386,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.958522,
        -34.111157,
        -41.705942,
        -105.343848,
        43.355659,
        58.265912,
        0.0
      ]
    ],
    "turn_angle": 89.94925410239537,
    "filename": "scan-0024_light-2_camera-24.png"
  },
  {
    "id": 25,
    "scan_id": "0025",
    "camera_id": 25,
    "light_id": 2,
    "position": [
      -44.793148,
      -136.381149,
      412.693848
    ],
    "rotation_matrix": [
      [
        0.9347317079531914,
        0.3553542375524903,
        -6.307260490279187e-07
      ],
      [
        -6.263000630582494e-05,
        0.00016651828668196034,
        0.999999984174571
      ],
      [
        0.3553542320338845,
        -0.9347316931211589,
        0.00017790576065429553
      ]
    ],
    "position_light": [
      46.667831,
      194.821213,
      368.199158
    ],
    "rotation_matrix_light": [
      [
        0.30370356505713225,
        -0.2292551463145262,
        -0.9247736060571223
      ],
      [
        -0.7380913575858827,
        0.5571600939738883,
        -0.38051777559009836
      ],
      [
        0.6024826075735439,
        0.7981320113686163,
        2.6467059788259917e-07
      ]
    ],
    "servo_angle": [
      [
        125.17323,
        -13.275719,
        -65.340393,
        254.590817,
        36.34214,
        -180.955312,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.958522,
        -34.111157,
        -41.705942,
        -105.343848,
        43.355659,
        58.265912,
        0.0
      ]
    ],
    "turn_angle": 89.94925410239537,
    "filename": "scan-0025_light-2_camera-25.png"
  },
  {
    "id": 26,
    "scan_id": "0026",
    "camera_id": 26,
    "light_id": 2,
    "position": [
      -66.51815,
      -136.381149,
      402.783264
    ],
    "rotation_matrix": [
      [
        0.9174231016363732,
        0.39791312181741567,
        -8.33158544372159e-06
      ],
      [
        -6.329564860355075e-05,
        0.0001668717916858964,
        0.9999999840737329
      ],
      [
        0.3979131168704516,
        -0.9174230864978948,
        0.00017827820583732334
      ]
    ],
    "position_light": [
      46.667831,
      194.821213,
      368.199158
    ],
    "rotation_matrix_light": [
      [
        0.30370356505713225,
        -0.2292551463145262,
        -0.9247736060571223
      ],
      [
        -0.7380913575858827,
        0.5571600939738883,
        -0.38051777559009836
      ],
      [
        0.6024826075735439,
        0.7981320113686163,
        2.6467059788259917e-07
      ]
    ],
    "servo_angle": [
      [
        128.162465,
        -10.672485,
        -66.482241,
        254.510717,
        39.545776,
        -182.615801,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.958522,
        -34.111157,
        -41.705942,
        -105.343848,
        43.355659,
        58.265912,
        0.0
      ]
    ],
    "turn_angle": 89.94925410239537,
    "filename": "scan-0026_light-2_camera-26.png"
  },
  {
    "id": 27,
    "scan_id": "0027",
    "camera_id": 27,
    "light_id": 2,
    "position": [
      -102.513596,
      -136.381149,
      383.573578
    ],
    "rotation_matrix": [
      [
        0.8833839066534903,
        0.46865005381620656,
        -2.2884151722718515e-05
      ],
      [
        -6.272025215198207e-05,
        0.00016705473965744622,
        0.9999999840794419
      ],
      [
        0.46865005017794215,
        -0.8833838911542257,
        0.00017696731808997113
      ]
    ],
    "position_light": [
      46.667831,
      194.821213,
      368.199158
    ],
    "rotation_matrix_light": [
      [
        0.30370356505713225,
        -0.2292551463145262,
        -0.9247736060571223
      ],
      [
        -0.7380913575858827,
        0.5571600939738883,
        -0.38051777559009836
      ],
      [
        0.6024826075735439,
        0.7981320113686163,
        2.6467059788259917e-07
      ]
    ],
    "servo_angle": [
      [
        132.651762,
        -5.845029,
        -68.732304,
        254.29689,
        44.42984,
        -185.229062,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.958522,
        -34.111157,
        -41.705942,
        -105.343848,
        43.355659,
        58.265912,
        0.0
      ]
    ],
    "turn_angle": 89.94925410239537,
    "filename": "scan-0027_light-2_camera-27.png"
  },
  {
    "id": 28,
    "scan_id": "0028",
    "camera_id": 28,
    "light_id": 2,
    "position": [
      -136.068863,
      -136.381149,
      362.170776
    ],
    "rotation_matrix": [
      [
        0.8449326980866294,
        0.5348726337942626,
        -3.635982087624168e-05
      ],
      [
        -6.252667608103168e-05,
        0.00016675119979586706,
        0.9999999841422257
      ],
      [
        0.5348726313754171,
        -0.8449326824144189,
        0.00017433734907051912
      ]
    ],
    "position_light": [
      46.667831,
      194.821213,
      368.199158
    ],
    "rotation_matrix_light": [
      [
        0.30370356505713225,
        -0.2292551463145262,
        -0.9247736060571223
      ],
      [
        -0.7380913575858827,
        0.5571600939738883,
        -0.38051777559009836
      ],
      [
        0.6024826075735439,
        0.7981320113686163,
        2.6467059788259917e-07
      ]
    ],
    "servo_angle": [
      [
        136.353814,
        -0.77143,
        -71.249536,
        254.062664,
        48.539323,
        -187.617436,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.958522,
        -34.111157,
        -41.705942,
        -105.343848,
        43.355659,
        58.265912,
        0.0
      ]
    ],
    "turn_angle": 89.94925410239537,
    "filename": "scan-0028_light-2_camera-28.png"
  },
  {
    "id": 29,
    "scan_id": "0029",
    "camera_id": 29,
    "light_id": 2,
    "position": [
      -166.657959,
      -136.381149,
      339.260071
    ],
    "rotation_matrix": [
      [
        0.803344518326524,
        0.5955145526932817,
        -4.9043305016815975e-05
      ],
      [
        -6.265987984094279e-05,
        0.00016688219419219719,
        0.9999999841120363
      ],
      [
        0.5955145514162223,
        -0.8033445024899678,
        0.00017137876622591586
      ]
    ],
    "position_light": [
      46.667831,
      194.821213,
      368.199158
    ],
    "rotation_matrix_light": [
      [
        0.30370356505713225,
        -0.2292551463145262,
        -0.9247736060571223
      ],
      [
        -0.7380913575858827,
        0.5571600939738883,
        -0.38051777559009836
      ],
      [
        0.6024826075735439,
        0.7981320113686163,
        2.6467059788259917e-07
      ]
    ],
    "servo_angle": [
      [
        139.364191,
        4.35786,
        -73.9335,
        253.848206,
        51.950427,
        -189.84206,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.958522,
        -34.111157,
        -41.705942,
        -105.343848,
        43.355659,
        58.265912,
        0.0
      ]
    ],
    "turn_angle": 89.94925410239537,
    "filename": "scan-0029_light-2_camera-29.png"
  },
  {
    "id": 30,
    "scan_id": "0030",
    "camera_id": 30,
    "light_id": 3,
    "position": [
      -194.735123,
      -136.381149,
      314.861359
    ],
    "rotation_matrix": [
      [
        0.7586942054891801,
        0.6514469270899299,
        -6.117376421238552e-05
      ],
      [
        -6.297758194862002e-05,
        0.00016724998646072686,
        0.9999999840306331
      ],
      [
        0.6514469269180461,
        -0.7586941895207382,
        0.000167918147831847
      ]
    ],
    "position_light": [
      603.402405,
      197.835587,
      186.743759
    ],
    "rotation_matrix_light": [
      [
        0.3540130251762825,
        0.7616893588529112,
        0.5426823183187175
      ],
      [
        0.22872697108285933,
        0.4921260725820755,
        -0.8399380342526481
      ],
      [
        -0.9068399807600003,
        0.4214750873956643,
        1.3976643187252336e-07
      ]
    ],
    "servo_angle": [
      [
        141.854954,
        9.535507,
        -76.774511,
        253.660276,
        54.832061,
        -191.992313,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -37.027283,
        6.825818,
        -56.876947,
        -150.313644,
        43.791966,
        3.034671,
        0.0
      ]
    ],
    "turn_angle": 131.10685229963835,
    "filename": "scan-0030_light-3_camera-30.png"
  },
  {
    "id": 31,
    "scan_id": "0031",
    "camera_id": 31,
    "light_id": 3,
    "position": [
      -209.128464,
      -136.381149,
      300.890472
    ],
    "rotation_matrix": [
      [
        0.7329921759372336,
        0.6802370656529972,
        -6.728000875400042e-05
      ],
      [
        -6.30317362018129e-05,
        0.00016682680625002,
        0.9999999840979084
      ],
      [
        0.6802370660599141,
        -0.7329921600403491,
        0.00016515926699478545
      ]
    ],
    "position_light": [
      603.402405,
      197.835587,
      186.743759
    ],
    "rotation_matrix_light": [
      [
        0.3540130251762825,
        0.7616893588529112,
        0.5426823183187175
      ],
      [
        0.22872697108285933,
        0.4921260725820755,
        -0.8399380342526481
      ],
      [
        -0.9068399807600003,
        0.4214750873956643,
        1.3976643187252336e-07
      ]
    ],
    "servo_angle": [
      [
        143.040289,
        12.388092,
        -78.394091,
        253.568087,
        56.226468,
        -193.157881,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -37.027283,
        6.825818,
        -56.876947,
        -150.313644,
        43.791966,
        3.034671,
        0.0
      ]
    ],
    "turn_angle": 131.10685229963835,
    "filename": "scan-0031_light-3_camera-31.png"
  },
  {
    "id": 32,
    "scan_id": "0032",
    "camera_id": 32,
    "light_id": 3,
    "position": [
      -243.186935,
      -136.381149,
      262.981598
    ],
    "rotation_matrix": [
      [
        0.662850455618416,
        0.7487518057719051,
        -8.270289960660149e-05
      ],
      [
        -6.296964752816603e-05,
        0.0001661997432196305,
        0.9999999842062344
      ],
      [
        0.7487518076914952,
        -0.6628504399417388,
        0.0001573142128122873
      ]
    ],
    "position_light": [
      603.402405,
      197.835587,
      186.743759
    ],
    "rotation_matrix_light": [
      [
        0.3540130251762825,
        0.7616893588529112,
        0.5426823183187175
      ],
      [
        0.22872697108285933,
        0.4921260725820755,
        -0.8399380342526481
      ],
      [
        -0.9068399807600003,
        0.4214750873956643,
        1.3976643187252336e-07
      ]
    ],
    "servo_angle": [
      [
        145.623985,
        19.790707,
        -82.772176,
        253.359072,
        59.331327,
        -196.172155,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -37.027283,
        6.825818,
        -56.876947,
        -150.313644,
        43.791966,
        3.034671,
        0.0
      ]
    ],
    "turn_angle": 131.10685229963835,
    "filename": "scan-0032_light-3_camera-32.png"
  },
  {
    "id": 33,
    "scan_id": "0033",
    "camera_id": 33,
    "light_id": 3,
    "position": [
      -248.677399,
      -136.381149,
      256.114349
    ],
    "rotation_matrix": [
      [
        0.65009034399232,
        0.7598569189778178,
        -8.561241099536154e-05
      ],
      [
        -6.306227393970687e-05,
        0.00016662161234953787,
        0.9999999841301938
      ],
      [
        0.7598569211839138,
        -0.650090328276599,
        0.0001562374064684735
      ]
    ],
    "position_light": [
      603.402405,
      197.835587,
      186.743759
    ],
    "rotation_matrix_light": [
      [
        0.3540130251762825,
        0.7616893588529112,
        0.5426823183187175
      ],
      [
        0.22872697108285933,
        0.4921260725820755,
        -0.8399380342526481
      ],
      [
        -0.9068399807600003,
        0.4214750873956643,
        1.3976643187252336e-07
      ]
    ],
    "servo_angle": [
      [
        146.01371,
        21.086337,
        -83.564118,
        253.32607,
        59.809002,
        -196.702255,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -37.027283,
        6.825818,
        -56.876947,
        -150.313644,
        43.791966,
        3.034671,
        0.0
      ]
    ],
    "turn_angle": 131.10685229963835,
    "filename": "scan-0033_light-3_camera-33.png"
  },
  {
    "id": 34,
    "scan_id": "0034",
    "camera_id": 34,
    "light_id": 3,
    "position": [
      -275.44101,
      -136.381149,
      218.765335
    ],
    "rotation_matrix": [
      [
        0.5804395155620181,
        0.8143033579643666,
        -9.991039377588162e-05
      ],
      [
        -6.268803333847606e-05,
        0.00016737865876331748,
        0.9999999840272975
      ],
      [
        0.8143033616806089,
        -0.5804395000276443,
        0.00014820026365974792
      ]
    ],
    "position_light": [
      603.402405,
      197.835587,
      186.743759
    ],
    "rotation_matrix_light": [
      [
        0.3540130251762825,
        0.7616893588529112,
        0.5426823183187175
      ],
      [
        0.22872697108285933,
        0.4921260725820755,
        -0.8399380342526481
      ],
      [
        -0.9068399807600003,
        0.4214750873956643,
        1.3976643187252336e-07
      ]
    ],
    "servo_angle": [
      [
        147.817725,
        27.93599,
        -87.877173,
        253.163407,
        62.062101,
        -199.536792,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -37.027283,
        6.825818,
        -56.876947,
        -150.313644,
        43.791966,
        3.034671,
        0.0
      ]
    ],
    "turn_angle": 131.10685229963835,
    "filename": "scan-0034_light-3_camera-34.png"
  },
  {
    "id": 35,
    "scan_id": "0035",
    "camera_id": 35,
    "light_id": 3,
    "position": [
      -288.48877,
      -136.381149,
      197.658478
    ],
    "rotation_matrix": [
      [
        0.5409113909748501,
        0.8410795775715828,
        -0.0001063280809423528
      ],
      [
        -6.274279102391755e-05,
        0.00016676943937438127,
        0.999999984125648
      ],
      [
        0.841079581952264,
        -0.5409113757169117,
        0.00014297916959421508
      ]
    ],
    "position_light": [
      603.402405,
      197.835587,
      186.743759
    ],
    "rotation_matrix_light": [
      [
        0.3540130251762825,
        0.7616893588529112,
        0.5426823183187175
      ],
      [
        0.22872697108285933,
        0.4921260725820755,
        -0.8399380342526481
      ],
      [
        -0.9068399807600003,
        0.4214750873956643,
        1.3976643187252336e-07
      ]
    ],
    "servo_angle": [
      [
        148.644102,
        31.683019,
        -90.326625,
        253.079927,
        63.12276,
        -201.117353,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -37.027283,
        6.825818,
        -56.876947,
        -150.313644,
        43.791966,
        3.034671,
        0.0
      ]
    ],
    "turn_angle": 131.10685229963835,
    "filename": "scan-0035_light-3_camera-35.png"
  },
  {
    "id": 36,
    "scan_id": "0036",
    "camera_id": 36,
    "light_id": 3,
    "position": [
      -301.645325,
      -136.381149,
      173.778641
    ],
    "rotation_matrix": [
      [
        0.4960618410207679,
        0.8682871858622696,
        -0.00011291796486906369
      ],
      [
        -6.300362901412448e-05,
        0.00016604144531395804,
        0.9999999842303904
      ],
      [
        0.8682871909187819,
        -0.4960618260838247,
        0.00013707206878399436
      ]
    ],
    "position_light": [
      603.402405,
      197.835587,
      186.743759
    ],
    "rotation_matrix_light": [
      [
        0.3540130251762825,
        0.7616893588529112,
        0.5426823183187175
      ],
      [
        0.22872697108285933,
        0.4921260725820755,
        -0.8399380342526481
      ],
      [
        -0.9068399807600003,
        0.4214750873956643,
        1.3976643187252336e-07
      ]
    ],
    "servo_angle": [
      [
        149.445613,
        35.83702,
        -93.11733,
        252.989514,
        64.174654,
        -202.900112,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -37.027283,
        6.825818,
        -56.876947,
        -150.313644,
        43.791966,
        3.034671,
        0.0
      ]
    ],
    "turn_angle": 131.10685229963835,
    "filename": "scan-0036_light-3_camera-36.png"
  },
  {
    "id": 37,
    "scan_id": "0037",
    "camera_id": 37,
    "light_id": 3,
    "position": [
      -322.889954,
      -136.381149,
      127.221069
    ],
    "rotation_matrix": [
      [
        0.40826562735698696,
        0.9128631669120343,
        -0.00012654697592073827
      ],
      [
        -6.287611330013654e-05,
        0.00016674692908080768,
        0.9999999841210278
      ],
      [
        0.9128631735180252,
        -0.4082656129173664,
        0.00012547432752135768
      ]
    ],
    "position_light": [
      603.402405,
      197.835587,
      186.743759
    ],
    "rotation_matrix_light": [
      [
        0.3540130251762825,
        0.7616893588529112,
        0.5426823183187175
      ],
      [
        0.22872697108285933,
        0.4921260725820755,
        -0.8399380342526481
      ],
      [
        -0.9068399807600003,
        0.4214750873956643,
        1.3976643187252336e-07
      ]
    ],
    "servo_angle": [
      [
        150.680452,
        43.742348,
        -98.652217,
        252.817054,
        65.85829,
        -206.393206,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -37.027283,
        6.825818,
        -56.876947,
        -150.313644,
        43.791966,
        3.034671,
        0.0
      ]
    ],
    "turn_angle": 131.10685229963835,
    "filename": "scan-0037_light-3_camera-37.png"
  },
  {
    "id": 38,
    "scan_id": "0038",
    "camera_id": 38,
    "light_id": 3,
    "position": [
      -337.290405,
      -136.381149,
      86.108879
    ],
    "rotation_matrix": [
      [
        0.33038958870030055,
        0.943844638138084,
        -0.000136881099841335
      ],
      [
        -6.277288024425509e-05,
        0.000166998462860668,
        0.9999999840855394
      ],
      [
        0.9438446459762388,
        -0.33038957484990755,
        0.00011442239989717384
      ]
    ],
    "position_light": [
      603.402405,
      197.835587,
      186.743759
    ],
    "rotation_matrix_light": [
      [
        0.3540130251762825,
        0.7616893588529112,
        0.5426823183187175
      ],
      [
        0.22872697108285933,
        0.4921260725820755,
        -0.8399380342526481
      ],
      [
        -0.9068399807600003,
        0.4214750873956643,
        1.3976643187252336e-07
      ]
    ],
    "servo_angle": [
      [
        151.483968,
        50.592746,
        -103.697626,
        252.662241,
        67.01916,
        -209.537083,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -37.027283,
        6.825818,
        -56.876947,
        -150.313644,
        43.791966,
        3.034671,
        0.0
      ]
    ],
    "turn_angle": 131.10685229963835,
    "filename": "scan-0038_light-3_camera-38.png"
  },
  {
    "id": 39,
    "scan_id": "0039",
    "camera_id": 39,
    "light_id": 3,
    "position": [
      -346.250641,
      -136.381149,
      52.651737
    ],
    "rotation_matrix": [
      [
        0.26679150538363006,
        0.9637542592314783,
        -0.00014306753927256777
      ],
      [
        -6.296370925457095e-05,
        0.00016587809419865707,
        0.9999999842600145
      ],
      [
        0.9637542677937709,
        -0.2667914921762727,
        0.00010493640943254334
      ]
    ],
    "position_light": [
      603.402405,
      197.835587,
      186.743759
    ],
    "rotation_matrix_light": [
      [
        0.3540130251762825,
        0.7616893588529112,
        0.5426823183187175
      ],
      [
        0.22872697108285933,
        0.4921260725820755,
        -0.8399380342526481
      ],
      [
        -0.9068399807600003,
        0.4214750873956643,
        1.3976643187252336e-07
      ]
    ],
    "servo_angle": [
      [
        151.976196,
        56.138806,
        -107.96513,
        252.531836,
        67.776266,
        -212.167016,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -37.027283,
        6.825818,
        -56.876947,
        -150.313644,
        43.791966,
        3.034671,
        0.0
      ]
    ],
    "turn_angle": 131.10685229963835,
    "filename": "scan-0039_light-3_camera-39.png"
  },
  {
    "id": 40,
    "scan_id": "0040",
    "camera_id": 40,
    "light_id": 4,
    "position": [
      -343.134125,
      -136.381149,
      65.33696
    ],
    "rotation_matrix": [
      [
        0.2909267209183001,
        0.9567453282483759,
        -0.0001411758915669803
      ],
      [
        -6.284073948703561e-05,
        0.0001666670689664529,
        0.9999999841365643
      ],
      [
        0.9567453366004803,
        -0.2909267074316055,
        0.00010861048778737503
      ]
    ],
    "position_light": [
      77.565948,
      207.530914,
      241.923615
    ],
    "rotation_matrix_light": [
      [
        0.19473041040429606,
        -0.20908946018988506,
        -0.9583118828968348
      ],
      [
        -0.6531203232140208,
        0.7012813332081077,
        -0.28572422910679457
      ],
      [
        0.731788159694175,
        0.6815321630938349,
        2.2600462390443e-07
      ]
    ],
    "servo_angle": [
      [
        151.805168,
        54.035592,
        -106.326586,
        252.58174,
        67.507664,
        -211.160559,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -105.208745,
        -32.004849,
        -25.104432,
        -108.16515,
        63.500855,
        84.588796,
        0.0
      ]
    ],
    "turn_angle": 147.65323559631148,
    "filename": "scan-0040_light-4_camera-40.png"
  },
  {
    "id": 41,
    "scan_id": "0041",
    "camera_id": 41,
    "light_id": 4,
    "position": [
      -333.914093,
      -136.381149,
      96.803932
    ],
    "rotation_matrix": [
      [
        0.3506783176238706,
        0.9364959687926937,
        -0.00013410266852953434
      ],
      [
        -6.277175901131526e-05,
        0.0001667015838280883,
        0.9999999841351439
      ],
      [
        0.9364959762904473,
        -0.3506783036425491,
        0.00011724413023017632
      ]
    ],
    "position_light": [
      77.565948,
      207.530914,
      241.923615
    ],
    "rotation_matrix_light": [
      [
        0.19473041040429606,
        -0.20908946018988506,
        -0.9583118828968348
      ],
      [
        -0.6531203232140208,
        0.7012813332081077,
        -0.28572422910679457
      ],
      [
        0.731788159694175,
        0.6815321630938349,
        2.2600462390443e-07
      ]
    ],
    "servo_angle": [
      [
        151.297413,
        48.817437,
        -102.366874,
        252.703036,
        66.742994,
        -208.711393,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -105.208745,
        -32.004849,
        -25.104432,
        -108.16515,
        63.500855,
        84.588796,
        0.0
      ]
    ],
    "turn_angle": 147.65323559631148,
    "filename": "scan-0041_light-4_camera-41.png"
  },
  {
    "id": 42,
    "scan_id": "0042",
    "camera_id": 42,
    "light_id": 4,
    "position": [
      -321.354553,
      -136.381149,
      131.034317
    ],
    "rotation_matrix": [
      [
        0.41547351795199244,
        0.9096052660636151,
        -0.000125817070777412
      ],
      [
        -6.273894753122677e-05,
        0.00016697730948334044,
        0.9999999840912013
      ],
      [
        0.9096052726014839,
        -0.41547350344867723,
        0.00012644232725089743
      ]
    ],
    "position_light": [
      77.565948,
      207.530914,
      241.923615
    ],
    "rotation_matrix_light": [
      [
        0.19473041040429606,
        -0.20908946018988506,
        -0.9583118828968348
      ],
      [
        -0.6531203232140208,
        0.7012813332081077,
        -0.28572422910679457
      ],
      [
        0.731788159694175,
        0.6815321630938349,
        2.2600462390443e-07
      ]
    ],
    "servo_angle": [
      [
        150.593419,
        43.10224,
        -98.192877,
        252.831206,
        65.73625,
        -206.105123,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -105.208745,
        -32.004849,
        -25.104432,
        -108.16515,
        63.500855,
        84.588796,
        0.0
      ]
    ],
    "turn_angle": 147.65323559631148,
    "filename": "scan-0042_light-4_camera-42.png"
  },
  {
    "id": 43,
    "scan_id": "0043",
    "camera_id": 43,
    "light_id": 4,
    "position": [
      -305.721405,
      -136.381149,
      165.727615
    ],
    "rotation_matrix": [
      [
        0.48091176443852796,
        0.876768989784741,
        -0.00011565667663376855
      ],
      [
        -6.300156408028945e-05,
        0.0001664690127576307,
        0.9999999841594354
      ],
      [
        0.8767689951494777,
        -0.48091174953406246,
        0.00013529472434314904
      ]
    ],
    "position_light": [
      77.565948,
      207.530914,
      241.923615
    ],
    "rotation_matrix_light": [
      [
        0.19473041040429606,
        -0.20908946018988506,
        -0.9583118828968348
      ],
      [
        -0.6531203232140208,
        0.7012813332081077,
        -0.28572422910679457
      ],
      [
        0.731788159694175,
        0.6815321630938349,
        2.2600462390443e-07
      ]
    ],
    "servo_angle": [
      [
        149.687917,
        37.220255,
        -94.064372,
        252.959549,
        64.498145,
        -203.501488,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -105.208745,
        -32.004849,
        -25.104432,
        -108.16515,
        63.500855,
        84.588796,
        0.0
      ]
    ],
    "turn_angle": 147.65323559631148,
    "filename": "scan-0043_light-4_camera-43.png"
  },
  {
    "id": 44,
    "scan_id": "0044",
    "camera_id": 44,
    "light_id": 4,
    "position": [
      -298.361053,
      -136.381149,
      180.024048
    ],
    "rotation_matrix": [
      [
        0.5078036400774221,
        0.8614728380528447,
        -0.00011145087451347457
      ],
      [
        -6.297051740827841e-05,
        0.00016649106549837533,
        0.9999999841577194
      ],
      [
        0.861472842960725,
        -0.507803625014535,
        0.0001387921594457886
      ]
    ],
    "position_light": [
      77.565948,
      207.530914,
      241.923615
    ],
    "rotation_matrix_light": [
      [
        0.19473041040429606,
        -0.20908946018988506,
        -0.9583118828968348
      ],
      [
        -0.6531203232140208,
        0.7012813332081077,
        -0.28572422910679457
      ],
      [
        0.731788159694175,
        0.6815321630938349,
        2.2600462390443e-07
      ]
    ],
    "servo_angle": [
      [
        149.248344,
        34.75837,
        -92.385033,
        253.012891,
        63.913327,
        -202.433896,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -105.208745,
        -32.004849,
        -25.104432,
        -108.16515,
        63.500855,
        84.588796,
        0.0
      ]
    ],
    "turn_angle": 147.65323559631148,
    "filename": "scan-0044_light-4_camera-44.png"
  },
  {
    "id": 45,
    "scan_id": "0045",
    "camera_id": 45,
    "light_id": 4,
    "position": [
      -267.692932,
      -136.381149,
      230.314072
    ],
    "rotation_matrix": [
      [
        0.6020182562646148,
        0.7984823166049211,
        -9.588196507676061e-05
      ],
      [
        -6.261240936950019e-05,
        0.000167287082354306,
        0.999999984047359
      ],
      [
        0.7984823199068334,
        -0.602018240657433,
        0.00015070477929607362
      ]
    ],
    "position_light": [
      77.565948,
      207.530914,
      241.923615
    ],
    "rotation_matrix_light": [
      [
        0.19473041040429606,
        -0.20908946018988506,
        -0.9583118828968348
      ],
      [
        -0.6531203232140208,
        0.7012813332081077,
        -0.28572422910679457
      ],
      [
        0.731788159694175,
        0.6815321630938349,
        2.2600462390443e-07
      ]
    ],
    "servo_angle": [
      [
        147.311116,
        25.850595,
        -86.541551,
        253.211192,
        61.421591,
        -198.667099,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -105.208745,
        -32.004849,
        -25.104432,
        -108.16515,
        63.500855,
        84.588796,
        0.0
      ]
    ],
    "turn_angle": 147.65323559631148,
    "filename": "scan-0045_light-4_camera-45.png"
  },
  {
    "id": 46,
    "scan_id": "0046",
    "camera_id": 46,
    "light_id": 4,
    "position": [
      -248.104599,
      -136.381149,
      256.842041
    ],
    "rotation_matrix": [
      [
        0.6514426203497663,
        0.7586979009699263,
        -8.634615305264104e-05
      ],
      [
        -6.253400256306385e-05,
        0.0001675020663702842,
        0.999999984016278
      ],
      [
        0.7586979033062691,
        -0.6514426045377181,
        0.00015656240151407097
      ]
    ],
    "position_light": [
      77.565948,
      207.530914,
      241.923615
    ],
    "rotation_matrix_light": [
      [
        0.19473041040429606,
        -0.20908946018988506,
        -0.9583118828968348
      ],
      [
        -0.6531203232140208,
        0.7012813332081077,
        -0.28572422910679457
      ],
      [
        0.731788159694175,
        0.6815321630938349,
        2.2600462390443e-07
      ]
    ],
    "servo_angle": [
      [
        145.973374,
        20.949629,
        -83.48018,
        253.329508,
        59.759441,
        -196.646277,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -105.208745,
        -32.004849,
        -25.104432,
        -108.16515,
        63.500855,
        84.588796,
        0.0
      ]
    ],
    "turn_angle": 147.65323559631148,
    "filename": "scan-0046_light-4_camera-46.png"
  },
  {
    "id": 47,
    "scan_id": "0047",
    "camera_id": 47,
    "light_id": 4,
    "position": [
      -234.815613,
      -136.381149,
      273.012238
    ],
    "rotation_matrix": [
      [
        0.6814619104497399,
        0.7318535770810661,
        -7.949741162721624e-05
      ],
      [
        -6.26919778496382e-05,
        0.0001670000792306503,
        0.9999999840903446
      ],
      [
        0.731853578713602,
        -0.6814618946240658,
        0.00015968554128131807
      ]
    ],
    "position_light": [
      77.565948,
      207.530914,
      241.923615
    ],
    "rotation_matrix_light": [
      [
        0.19473041040429606,
        -0.20908946018988506,
        -0.9583118828968348
      ],
      [
        -0.6531203232140208,
        0.7012813332081077,
        -0.28572422910679457
      ],
      [
        0.731788159694175,
        0.6815321630938349,
        2.2600462390443e-07
      ]
    ],
    "servo_angle": [
      [
        145.016076,
        17.875023,
        -81.615145,
        253.409607,
        58.591524,
        -195.390583,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -105.208745,
        -32.004849,
        -25.104432,
        -108.16515,
        63.500855,
        84.588796,
        0.0
      ]
    ],
    "turn_angle": 147.65323559631148,
    "filename": "scan-0047_light-4_camera-47.png"
  },
  {
    "id": 48,
    "scan_id": "0048",
    "camera_id": 48,
    "light_id": 4,
    "position": [
      -220.778824,
      -136.381149,
      288.750092
    ],
    "rotation_matrix": [
      [
        0.7105892525178036,
        0.7036070699089401,
        -7.335083601678338e-05
      ],
      [
        -6.253149971763294e-05,
        0.0001674017381662063,
        0.9999999840332348
      ],
      [
        0.7036070709536685,
        -0.710589236585254,
        0.00016295148128708803
      ]
    ],
    "position_light": [
      77.565948,
      207.530914,
      241.923615
    ],
    "rotation_matrix_light": [
      [
        0.19473041040429606,
        -0.20908946018988506,
        -0.9583118828968348
      ],
      [
        -0.6531203232140208,
        0.7012813332081077,
        -0.28572422910679457
      ],
      [
        0.731788159694175,
        0.6815321630938349,
        2.2600462390443e-07
      ]
    ],
    "servo_angle": [
      [
        143.957709,
        14.808896,
        -79.798181,
        253.495322,
        57.317781,
        -194.143025,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -105.208745,
        -32.004849,
        -25.104432,
        -108.16515,
        63.500855,
        84.588796,
        0.0
      ]
    ],
    "turn_angle": 147.65323559631148,
    "filename": "scan-0048_light-4_camera-48.png"
  },
  {
    "id": 49,
    "scan_id": "0049",
    "camera_id": 49,
    "light_id": 4,
    "position": [
      -179.212173,
      -136.381149,
      328.785156
    ],
    "rotation_matrix": [
      [
        0.7842152082172658,
        0.6204889235596528,
        -5.422668565679967e-05
      ],
      [
        -6.274183810206502e-05,
        0.00016669078931258463,
        0.999999984138821
      ],
      [
        0.620488922757056,
        -0.7842151923764062,
        0.00016965206763469576
      ]
    ],
    "position_light": [
      77.565948,
      207.530914,
      241.923615
    ],
    "rotation_matrix_light": [
      [
        0.19473041040429606,
        -0.20908946018988506,
        -0.9583118828968348
      ],
      [
        -0.6531203232140208,
        0.7012813332081077,
        -0.28572422910679457
      ],
      [
        0.731788159694175,
        0.6815321630938349,
        2.2600462390443e-07
      ]
    ],
    "servo_angle": [
      [
        140.508274,
        6.613537,
        -75.155332,
        253.762836,
        53.266568,
        -190.786581,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -105.208745,
        -32.004849,
        -25.104432,
        -108.16515,
        63.500855,
        84.588796,
        0.0
      ]
    ],
    "turn_angle": 147.65323559631148,
    "filename": "scan-0049_light-4_camera-49.png"
  },
  {
    "id": 50,
    "scan_id": "0050",
    "camera_id": 50,
    "light_id": 5,
    "position": [
      -160.096268,
      -136.381149,
      344.475281
    ],
    "rotation_matrix": [
      [
        0.8128435103297108,
        0.5824821246501438,
        -4.666827261079476e-05
      ],
      [
        -6.259214212878117e-05,
        0.0001674658916795968,
        0.9999999840186993
      ],
      [
        0.5824821231566657,
        -0.8128434944183471,
        0.00017258236718697972
      ]
    ],
    "position_light": [
      166.979675,
      205.653076,
      227.391403
    ],
    "rotation_matrix_light": [
      [
        0.014224121701600978,
        -0.015533972007904961,
        -0.9997781604313406
      ],
      [
        -0.6751707890314986,
        0.737360682240455,
        -0.021062524171479968
      ],
      [
        0.737524291125656,
        0.6753206053420466,
        2.2394479332055184e-07
      ]
    ],
    "servo_angle": [
      [
        138.745741,
        3.214866,
        -73.32393,
        253.893585,
        51.243741,
        -189.357051,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.007344,
        -25.445056,
        -27.333353,
        -82.473092,
        98.288102,
        85.481063,
        0.0
      ]
    ],
    "turn_angle": 193.66044329903434,
    "filename": "scan-0050_light-5_camera-50.png"
  },
  {
    "id": 51,
    "scan_id": "0051",
    "camera_id": 51,
    "light_id": 5,
    "position": [
      -130.194702,
      -136.381149,
      366.182892
    ],
    "rotation_matrix": [
      [
        0.8521736065298859,
        0.5232591549280545,
        -3.343388842697026e-05
      ],
      [
        -6.306251750110015e-05,
        0.00016659832905213667,
        0.9999999841340574
      ],
      [
        0.523259152196085,
        -0.8521735909009236,
        0.00017496873852546058
      ]
    ],
    "position_light": [
      166.979675,
      205.653076,
      227.391403
    ],
    "rotation_matrix_light": [
      [
        0.014224121701600978,
        -0.015533972007904961,
        -0.9997781604313406
      ],
      [
        -0.6751707890314986,
        0.737360682240455,
        -0.021062524171479968
      ],
      [
        0.737524291125656,
        0.6753206053420466,
        2.2394479332055184e-07
      ]
    ],
    "servo_angle": [
      [
        135.737254,
        -1.700252,
        -70.778049,
        254.104376,
        47.848909,
        -187.197974,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.007344,
        -25.445056,
        -27.333353,
        -82.473092,
        98.288102,
        85.481063,
        0.0
      ]
    ],
    "turn_angle": 193.66044329903434,
    "filename": "scan-0051_light-5_camera-51.png"
  },
  {
    "id": 52,
    "scan_id": "0052",
    "camera_id": 52,
    "light_id": 5,
    "position": [
      -107.574097,
      -136.381149,
      380.573517
    ],
    "rotation_matrix": [
      [
        0.8780227804952798,
        0.4786188424391653,
        -2.4362498493801787e-05
      ],
      [
        -6.321310237120126e-05,
        0.00016686564533624493,
        0.9999999840799801
      ],
      [
        0.4786188388848077,
        -0.8780227649771105,
        0.00017676681977113473
      ]
    ],
    "position_light": [
      166.979675,
      205.653076,
      227.391403
    ],
    "rotation_matrix_light": [
      [
        0.014224121701600978,
        -0.015533972007904961,
        -0.9997781604313406
      ],
      [
        -0.6751707890314986,
        0.737360682240455,
        -0.021062524171479968
      ],
      [
        0.737524291125656,
        0.6753206053420466,
        2.2394479332055184e-07
      ]
    ],
    "servo_angle": [
      [
        133.2387,
        -5.115539,
        -69.085246,
        254.262627,
        45.075908,
        -185.589452,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.007344,
        -25.445056,
        -27.333353,
        -82.473092,
        98.288102,
        85.481063,
        0.0
      ]
    ],
    "turn_angle": 193.66044329903434,
    "filename": "scan-0052_light-5_camera-52.png"
  },
  {
    "id": 53,
    "scan_id": "0053",
    "camera_id": 53,
    "light_id": 5,
    "position": [
      -59.394466,
      -136.381149,
      406.166351
    ],
    "rotation_matrix": [
      [
        0.9233551861213607,
        0.3839468716163319,
        -6.230467289369823e-06
      ],
      [
        -6.27863315804944e-05,
        0.00016722249045048043,
        0.9999999840472573
      ],
      [
        0.38394686653320054,
        -0.9233551710001251,
        0.00017851236938420945
      ]
    ],
    "position_light": [
      166.979675,
      205.653076,
      227.391403
    ],
    "rotation_matrix_light": [
      [
        0.014224121701600978,
        -0.015533972007904961,
        -0.9997781604313406
      ],
      [
        -0.6751707890314986,
        0.737360682240455,
        -0.021062524171479968
      ],
      [
        0.737524291125656,
        0.6753206053420466,
        2.2394479332055184e-07
      ]
    ],
    "servo_angle": [
      [
        127.206084,
        -11.552204,
        -66.089994,
        254.542688,
        38.51703,
        -182.080773,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.007344,
        -25.445056,
        -27.333353,
        -82.473092,
        98.288102,
        85.481063,
        0.0
      ]
    ],
    "turn_angle": 193.66044329903434,
    "filename": "scan-0053_light-5_camera-53.png"
  },
  {
    "id": 54,
    "scan_id": "0054",
    "camera_id": 54,
    "light_id": 5,
    "position": [
      -29.208555,
      -136.381149,
      419.078278
    ],
    "rotation_matrix": [
      [
        0.9457542176835485,
        0.3248829938770083,
        4.826053878609349e-06
      ],
      [
        -6.242767769054636e-05,
        0.00016687603443643617,
        0.9999999841275868
      ],
      [
        0.3248829879149785,
        -0.9457542029734263,
        0.0001781054042274688
      ]
    ],
    "position_light": [
      166.979675,
      205.653076,
      227.391403
    ],
    "rotation_matrix_light": [
      [
        0.014224121701600978,
        -0.015533972007904961,
        -0.9997781604313406
      ],
      [
        -0.6751707890314986,
        0.737360682240455,
        -0.021062524171479968
      ],
      [
        0.737524291125656,
        0.6753206053420466,
        2.2394479332055184e-07
      ]
    ],
    "servo_angle": [
      [
        122.894119,
        -14.994477,
        -64.621618,
        254.607261,
        33.921451,
        -179.69916,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.007344,
        -25.445056,
        -27.333353,
        -82.473092,
        98.288102,
        85.481063,
        0.0
      ]
    ],
    "turn_angle": 193.66044329903434,
    "filename": "scan-0054_light-5_camera-54.png"
  },
  {
    "id": 55,
    "scan_id": "0055",
    "camera_id": 55,
    "light_id": 5,
    "position": [
      -7.512943,
      -136.381149,
      427.007172
    ],
    "rotation_matrix": [
      [
        0.9592555083325336,
        0.28254003176083997,
        1.3648299704904776e-05
      ],
      [
        -6.331887564167693e-05,
        0.0001666690573340901,
        0.9999999841060725
      ],
      [
        0.2825400249954199,
        -0.959255493950391,
        0.00017776832845117774
      ]
    ],
    "position_light": [
      166.979675,
      205.653076,
      227.391403
    ],
    "rotation_matrix_light": [
      [
        0.014224121701600978,
        -0.015533972007904961,
        -0.9997781604313406
      ],
      [
        -0.6751707890314986,
        0.737360682240455,
        -0.021062524171479968
      ],
      [
        0.737524291125656,
        0.6753206053420466,
        2.2394479332055184e-07
      ]
    ],
    "servo_angle": [
      [
        119.532575,
        -17.171889,
        -63.764301,
        254.541772,
        30.380858,
        -177.821692,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.007344,
        -25.445056,
        -27.333353,
        -82.473092,
        98.288102,
        85.481063,
        0.0
      ]
    ],
    "turn_angle": 193.66044329903434,
    "filename": "scan-0055_light-5_camera-55.png"
  },
  {
    "id": 56,
    "scan_id": "0056",
    "camera_id": 56,
    "light_id": 5,
    "position": [
      30.240465,
      -136.381149,
      438.283325
    ],
    "rotation_matrix": [
      [
        0.9779029430925165,
        0.20905940112608024,
        2.630208217910268e-05
      ],
      [
        -6.25869850744698e-05,
        0.0001669473601978444,
        0.9999999841057242
      ],
      [
        0.20905939341216923,
        -0.9779029291956253,
        0.00017634271249700184
      ]
    ],
    "position_light": [
      166.979675,
      205.653076,
      227.391403
    ],
    "rotation_matrix_light": [
      [
        0.014224121701600978,
        -0.015533972007904961,
        -0.9997781604313406
      ],
      [
        -0.6751707890314986,
        0.737360682240455,
        -0.021062524171479968
      ],
      [
        0.737524291125656,
        0.6753206053420466,
        2.2394479332055184e-07
      ]
    ],
    "servo_angle": [
      [
        113.17939,
        -20.324245,
        -62.701522,
        254.006343,
        23.768066,
        -174.004704,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.007344,
        -25.445056,
        -27.333353,
        -82.473092,
        98.288102,
        85.481063,
        0.0
      ]
    ],
    "turn_angle": 193.66044329903434,
    "filename": "scan-0056_light-5_camera-56.png"
  },
  {
    "id": 57,
    "scan_id": "0057",
    "camera_id": 57,
    "light_id": 5,
    "position": [
      52.476097,
      -136.381149,
      443.498016
    ],
    "rotation_matrix": [
      [
        0.9861431733298116,
        0.16589647524581974,
        3.458355686621062e-05
      ],
      [
        -6.311436989374364e-05,
        0.00016670787400385745,
        0.9999999841125305
      ],
      [
        0.1658964668447933,
        -0.9861431598452114,
        0.00017486828339197125
      ]
    ],
    "position_light": [
      166.979675,
      205.653076,
      227.391403
    ],
    "rotation_matrix_light": [
      [
        0.014224121701600978,
        -0.015533972007904961,
        -0.9997781604313406
      ],
      [
        -0.6751707890314986,
        0.737360682240455,
        -0.021062524171479968
      ],
      [
        0.737524291125656,
        0.6753206053420466,
        2.2394479332055184e-07
      ]
    ],
    "servo_angle": [
      [
        109.174472,
        -21.772224,
        -62.368118,
        253.255424,
        19.640363,
        -171.239667,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.007344,
        -25.445056,
        -27.333353,
        -82.473092,
        98.288102,
        85.481063,
        0.0
      ]
    ],
    "turn_angle": 193.66044329903434,
    "filename": "scan-0057_light-5_camera-57.png"
  },
  {
    "id": 58,
    "scan_id": "0058",
    "camera_id": 58,
    "light_id": 5,
    "position": [
      77.506332,
      -136.381149,
      448.153442
    ],
    "rotation_matrix": [
      [
        0.9930840472437145,
        0.1174055931393646,
        4.2539834469855486e-05
      ],
      [
        -6.257063689087822e-05,
        0.00016692618302294182,
        0.9999999841102821
      ],
      [
        0.11740558417281069,
        -0.9930840341256338,
        0.00017311787216467422
      ]
    ],
    "position_light": [
      166.979675,
      205.653076,
      227.391403
    ],
    "rotation_matrix_light": [
      [
        0.014224121701600978,
        -0.015533972007904961,
        -0.9997781604313406
      ],
      [
        -0.6751707890314986,
        0.737360682240455,
        -0.021062524171479968
      ],
      [
        0.737524291125656,
        0.6753206053420466,
        2.2394479332055184e-07
      ]
    ],
    "servo_angle": [
      [
        104.502173,
        -23.007349,
        -62.316208,
        251.72534,
        14.850951,
        -167.369738,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.007344,
        -25.445056,
        -27.333353,
        -82.473092,
        98.288102,
        85.481063,
        0.0
      ]
    ],
    "turn_angle": 193.66044329903434,
    "filename": "scan-0058_light-5_camera-58.png"
  },
  {
    "id": 59,
    "scan_id": "0059",
    "camera_id": 59,
    "light_id": 5,
    "position": [
      134.631393,
      -136.381149,
      454.122406
    ],
    "rotation_matrix": [
      [
        0.9999747077980976,
        0.007111957736380233,
        6.181638052211828e-05
      ],
      [
        -6.300479251013106e-05,
        0.0001668766161849744,
        0.9999999840912953
      ],
      [
        0.007111947307529793,
        -0.9999746957845236,
        0.00016732048292944501
      ]
    ],
    "position_light": [
      166.979675,
      205.653076,
      227.391403
    ],
    "rotation_matrix_light": [
      [
        0.014224121701600978,
        -0.015533972007904961,
        -0.9997781604313406
      ],
      [
        -0.6751707890314986,
        0.737360682240455,
        -0.021062524171479968
      ],
      [
        0.737524291125656,
        0.6753206053420466,
        2.2394479332055184e-07
      ]
    ],
    "servo_angle": [
      [
        94.041224,
        -24.079124,
        -64.195051,
        242.030837,
        4.039295,
        -152.0367,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.007344,
        -25.445056,
        -27.333353,
        -82.473092,
        98.288102,
        85.481063,
        0.0
      ]
    ],
    "turn_angle": 193.66044329903434,
    "filename": "scan-0059_light-5_camera-59.png"
  },
  {
    "id": 60,
    "scan_id": "0060",
    "camera_id": 60,
    "light_id": 6,
    "position": [
      125.683517,
      -136.381149,
      453.607788
    ],
    "rotation_matrix": [
      [
        0.9997033810841602,
        0.024354596667977516,
        5.890703198296009e-05
      ],
      [
        -6.298769719443806e-05,
        0.00016678505748096706,
        0.9999999841076471
      ],
      [
        0.024354586456112957,
        -0.9997033689069396,
        0.00016826962583832428
      ]
    ],
    "position_light": [
      473.970978,
      209.359818,
      125.34584
    ],
    "rotation_matrix_light": [
      [
        0.28561567686015943,
        0.6739272989552767,
        0.6813557667287761
      ],
      [
        0.26587216431072463,
        0.6273417514396009,
        -0.7319524022403541
      ],
      [
        -0.9207256254587705,
        0.3902106131610712,
        1.293987393902185e-07
      ]
    ],
    "servo_angle": [
      [
        95.559448,
        -24.083479,
        -63.643636,
        244.514265,
        5.648333,
        -155.434397,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.005441,
        -4.009788,
        -32.587548,
        -180.956,
        53.403162,
        24.029506,
        0.0
      ]
    ],
    "turn_angle": 207.24197688533621,
    "filename": "scan-0060_light-6_camera-60.png"
  },
  {
    "id": 61,
    "scan_id": "0061",
    "camera_id": 61,
    "light_id": 6,
    "position": [
      170.581696,
      -136.381149,
      454.634186
    ],
    "rotation_matrix": [
      [
        0.9980737781159941,
        -0.062038118024007397,
        7.313894312993216e-05
      ],
      [
        -6.288502180066755e-05,
        0.00016723670861557016,
        0.9999999840386786
      ],
      [
        -0.06203812926531317,
        -0.9980737667847617,
        0.00016301330520313018
      ]
    ],
    "position_light": [
      473.970978,
      209.359818,
      125.34584
    ],
    "rotation_matrix_light": [
      [
        0.28561567686015943,
        0.6739272989552767,
        0.6813557667287761
      ],
      [
        0.26587216431072463,
        0.6273417514396009,
        -0.7319524022403541
      ],
      [
        -0.9207256254587705,
        0.3902106131610712,
        1.293987393902185e-07
      ]
    ],
    "servo_angle": [
      [
        89.536802,
        -23.444459,
        -67.697828,
        224.991874,
        -1.412341,
        -131.173817,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.005441,
        -4.009788,
        -32.587548,
        -180.956,
        53.403162,
        24.029506,
        0.0
      ]
    ],
    "turn_angle": 207.24197688533621,
    "filename": "scan-0061_light-6_camera-61.png"
  },
  {
    "id": 62,
    "scan_id": "0062",
    "camera_id": 62,
    "light_id": 6,
    "position": [
      199.96698,
      -136.381149,
      453.202972
    ],
    "rotation_matrix": [
      [
        0.9929644872950677,
        -0.1184125004702847,
        8.187318174636415e-05
      ],
      [
        -6.256310385062414e-05,
        0.00016679185077794756,
        0.9999999841331679
      ],
      [
        -0.11841251224723298,
        -0.9929644766621075,
        0.00015821013102856885
      ]
    ],
    "position_light": [
      473.970978,
      209.359818,
      125.34584
    ],
    "rotation_matrix_light": [
      [
        0.28561567686015943,
        0.6739272989552767,
        0.6813557667287761
      ],
      [
        0.26587216431072463,
        0.6273417514396009,
        -0.7319524022403541
      ],
      [
        -0.9207256254587705,
        0.3902106131610712,
        1.293987393902185e-07
      ]
    ],
    "servo_angle": [
      [
        89.266194,
        -22.688155,
        -70.815578,
        200.49535,
        -3.707152,
        -103.454062,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.005441,
        -4.009788,
        -32.587548,
        -180.956,
        53.403162,
        24.029506,
        0.0
      ]
    ],
    "turn_angle": 207.24197688533621,
    "filename": "scan-0062_light-6_camera-62.png"
  },
  {
    "id": 63,
    "scan_id": "0063",
    "camera_id": 63,
    "light_id": 6,
    "position": [
      238.023926,
      -136.381149,
      448.852051
    ],
    "rotation_matrix": [
      [
        0.9815466154205886,
        -0.1912229928958697,
        9.351114171592123e-05
      ],
      [
        -6.282018456245375e-05,
        0.000166560517721015,
        0.9999999841556092
      ],
      [
        -0.19122300544132204,
        -0.9815466057429675,
        0.00015147424872552495
      ]
    ],
    "position_light": [
      473.970978,
      209.359818,
      125.34584
    ],
    "rotation_matrix_light": [
      [
        0.28561567686015943,
        0.6739272989552767,
        0.6813557667287761
      ],
      [
        0.26587216431072463,
        0.6273417514396009,
        -0.7319524022403541
      ],
      [
        -0.9207256254587705,
        0.3902106131610712,
        1.293987393902185e-07
      ]
    ],
    "servo_angle": [
      [
        91.303059,
        -22.943407,
        -69.794281,
        163.997652,
        -2.991986,
        -62.776235,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.005441,
        -4.009788,
        -32.587548,
        -180.956,
        53.403162,
        24.029506,
        0.0
      ]
    ],
    "turn_angle": 207.24197688533621,
    "filename": "scan-0063_light-6_camera-63.png"
  },
  {
    "id": 64,
    "scan_id": "0064",
    "camera_id": 64,
    "light_id": 6,
    "position": [
      250.365356,
      -136.381149,
      446.825928
    ],
    "rotation_matrix": [
      [
        0.9766615000687064,
        -0.21478432179151685,
        9.693349788635064e-05
      ],
      [
        -6.250753120175256e-05,
        0.00016707363393980712,
        0.9999999840896049
      ],
      [
        -0.21478433456924512,
        -0.9766614905887093,
        0.000149748748249523
      ]
    ],
    "position_light": [
      473.970978,
      209.359818,
      125.34584
    ],
    "rotation_matrix_light": [
      [
        0.28561567686015943,
        0.6739272989552767,
        0.6813557667287761
      ],
      [
        0.26587216431072463,
        0.6273417514396009,
        -0.7319524022403541
      ],
      [
        -0.9207256254587705,
        0.3902106131610712,
        1.293987393902185e-07
      ]
    ],
    "servo_angle": [
      [
        91.270171,
        -23.31732,
        -68.239159,
        154.059699,
        -1.918492,
        -51.427431,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.005441,
        -4.009788,
        -32.587548,
        -180.956,
        53.403162,
        24.029506,
        0.0
      ]
    ],
    "turn_angle": 207.24197688533621,
    "filename": "scan-0064_light-6_camera-64.png"
  },
  {
    "id": 65,
    "scan_id": "0065",
    "camera_id": 65,
    "light_id": 6,
    "position": [
      282.197876,
      -136.381149,
      440.172577
    ],
    "rotation_matrix": [
      [
        0.961316988893165,
        -0.2754444328756105,
        0.00010612828162523402
      ],
      [
        -6.248181806936537e-05,
        0.0001672331738423738,
        0.999999984064544
      ],
      [
        -0.2754444462344472,
        -0.9613169802052283,
        0.00014355382217801083
      ]
    ],
    "position_light": [
      473.970978,
      209.359818,
      125.34584
    ],
    "rotation_matrix_light": [
      [
        0.28561567686015943,
        0.6739272989552767,
        0.6813557667287761
      ],
      [
        0.26587216431072463,
        0.6273417514396009,
        -0.7319524022403541
      ],
      [
        -0.9207256254587705,
        0.3902106131610712,
        1.293987393902185e-07
      ]
    ],
    "servo_angle": [
      [
        88.655421,
        -24.231932,
        -63.87408,
        135.835917,
        2.386369,
        -29.549324,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.005441,
        -4.009788,
        -32.587548,
        -180.956,
        53.403162,
        24.029506,
        0.0
      ]
    ],
    "turn_angle": 207.24197688533621,
    "filename": "scan-0065_light-6_camera-65.png"
  },
  {
    "id": 66,
    "scan_id": "0066",
    "camera_id": 66,
    "light_id": 6,
    "position": [
      316.801331,
      -136.381149,
      430.524963
    ],
    "rotation_matrix": [
      [
        0.9399942074180264,
        -0.34119038161682946,
        0.00011624422215536501
      ],
      [
        -6.298261055778798e-05,
        0.00016718211966471053,
        0.9999999840416649
      ],
      [
        -0.3411903956059543,
        -0.9399941997386483,
        0.00013566116313723509
      ]
    ],
    "position_light": [
      473.970978,
      209.359818,
      125.34584
    ],
    "rotation_matrix_light": [
      [
        0.28561567686015943,
        0.6739272989552767,
        0.6813557667287761
      ],
      [
        0.26587216431072463,
        0.6273417514396009,
        -0.7319524022403541
      ],
      [
        -0.9207256254587705,
        0.3902106131610712,
        1.293987393902185e-07
      ]
    ],
    "servo_angle": [
      [
        83.217421,
        -24.483403,
        -60.320366,
        125.662765,
        8.645303,
        -15.594479,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.005441,
        -4.009788,
        -32.587548,
        -180.956,
        53.403162,
        24.029506,
        0.0
      ]
    ],
    "turn_angle": 207.24197688533621,
    "filename": "scan-0066_light-6_camera-66.png"
  },
  {
    "id": 67,
    "scan_id": "0067",
    "camera_id": 67,
    "light_id": 6,
    "position": [
      373.336334,
      -136.381149,
      408.940155
    ],
    "rotation_matrix": [
      [
        0.8939641199226165,
        -0.4481385223575097,
        0.00013065301180378852
      ],
      [
        -6.258209804180237e-05,
        0.00016670483746988873,
        0.999999984146489
      ],
      [
        -0.4481385370334299,
        -0.8939641139266861,
        0.00012098269437316178
      ]
    ],
    "position_light": [
      473.970978,
      209.359818,
      125.34584
    ],
    "rotation_matrix_light": [
      [
        0.28561567686015943,
        0.6739272989552767,
        0.6813557667287761
      ],
      [
        0.26587216431072463,
        0.6273417514396009,
        -0.7319524022403541
      ],
      [
        -0.9207256254587705,
        0.3902106131610712,
        1.293987393902185e-07
      ]
    ],
    "servo_angle": [
      [
        72.767473,
        -22.736627,
        -57.167666,
        119.29984,
        20.020005,
        -3.589008,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.005441,
        -4.009788,
        -32.587548,
        -180.956,
        53.403162,
        24.029506,
        0.0
      ]
    ],
    "turn_angle": 207.24197688533621,
    "filename": "scan-0067_light-6_camera-67.png"
  },
  {
    "id": 68,
    "scan_id": "0068",
    "camera_id": 68,
    "light_id": 6,
    "position": [
      402.260712,
      -136.381149,
      394.827576
    ],
    "rotation_matrix": [
      [
        0.8645133515596741,
        -0.5026098345538869,
        0.0001385091145476025
      ],
      [
        -6.311563236827133e-05,
        0.00016701783310696383,
        0.9999999840607307
      ],
      [
        -0.5026098496761452,
        -0.8645133465220528,
        0.00011266660912717663
      ]
    ],
    "position_light": [
      473.970978,
      209.359818,
      125.34584
    ],
    "rotation_matrix_light": [
      [
        0.28561567686015943,
        0.6739272989552767,
        0.6813557667287761
      ],
      [
        0.26587216431072463,
        0.6273417514396009,
        -0.7319524022403541
      ],
      [
        -0.9207256254587705,
        0.3902106131610712,
        1.293987393902185e-07
      ]
    ],
    "servo_angle": [
      [
        67.51007,
        -20.817161,
        -56.420586,
        118.166529,
        25.826245,
        0.178247,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.005441,
        -4.009788,
        -32.587548,
        -180.956,
        53.403162,
        24.029506,
        0.0
      ]
    ],
    "turn_angle": 207.24197688533621,
    "filename": "scan-0068_light-6_camera-68.png"
  },
  {
    "id": 69,
    "scan_id": "0069",
    "camera_id": 69,
    "light_id": 6,
    "position": [
      413.346924,
      -136.381149,
      388.813812
    ],
    "rotation_matrix": [
      [
        0.8520631744852254,
        -0.523438942719409,
        0.0001411770058236672
      ],
      [
        -6.305434531334031e-05,
        0.0001670695678194778,
        0.9999999840559542
      ],
      [
        -0.523438957960056,
        -0.852063169801715,
        0.00010934872647144767
      ]
    ],
    "position_light": [
      473.970978,
      209.359818,
      125.34584
    ],
    "rotation_matrix_light": [
      [
        0.28561567686015943,
        0.6739272989552767,
        0.6813557667287761
      ],
      [
        0.26587216431072463,
        0.6273417514396009,
        -0.7319524022403541
      ],
      [
        -0.9207256254587705,
        0.3902106131610712,
        1.293987393902185e-07
      ]
    ],
    "servo_angle": [
      [
        65.564706,
        -19.901403,
        -56.257122,
        117.922793,
        28.006807,
        1.386443,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.005441,
        -4.009788,
        -32.587548,
        -180.956,
        53.403162,
        24.029506,
        0.0
      ]
    ],
    "turn_angle": 207.24197688533621,
    "filename": "scan-0069_light-6_camera-69.png"
  },
  {
    "id": 70,
    "scan_id": "0070",
    "camera_id": 70,
    "light_id": 7,
    "position": [
      452.549072,
      -136.381149,
      364.588989
    ],
    "rotation_matrix": [
      [
        0.8023488991822945,
        -0.5968552768776286,
        0.00014981418176718275
      ],
      [
        -6.258222277777392e-05,
        0.00016687697284806235,
        0.9999999841177702
      ],
      [
        -0.5968552923987733,
        -0.8023488958149096,
        9.654102555983757e-05
      ]
    ],
    "position_light": [
      -84.410423,
      210.456741,
      185.789124
    ],
    "rotation_matrix_light": [
      [
        0.3335195693395338,
        -0.5301660353302997,
        -0.779543887058146
      ],
      [
        -0.41509377223202537,
        0.6598377316461542,
        -0.6263476096787195
      ],
      [
        0.8464406991170496,
        0.5324829977362746,
        1.765780489604296e-07
      ]
    ],
    "servo_angle": [
      [
        59.082262,
        -15.872249,
        -56.178168,
        117.573117,
        35.442997,
        4.956887,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.263492,
        -7.316614,
        -41.269233,
        -169.637964,
        42.005828,
        140.52529,
        0.0
      ]
    ],
    "turn_angle": 225.83892452027007,
    "filename": "scan-0070_light-7_camera-70.png"
  },
  {
    "id": 71,
    "scan_id": "0071",
    "camera_id": 71,
    "light_id": 7,
    "position": [
      474.570038,
      -136.381149,
      348.735809
    ],
    "rotation_matrix": [
      [
        0.770106648576087,
        -0.6379151398248489,
        0.00015556718774728528
      ],
      [
        -6.314533241125186e-05,
        0.00016763757161197823,
        0.9999999839551553
      ],
      [
        -0.6379151556685054,
        -0.7701066460431875,
        8.881744489508403e-05
      ]
    ],
    "position_light": [
      -84.410423,
      210.456741,
      185.789124
    ],
    "rotation_matrix_light": [
      [
        0.3335195693395338,
        -0.5301660353302997,
        -0.779543887058146
      ],
      [
        -0.41509377223202537,
        0.6598377316461542,
        -0.6263476096787195
      ],
      [
        0.8464406991170496,
        0.5324829977362746,
        1.765780489604296e-07
      ]
    ],
    "servo_angle": [
      [
        55.738079,
        -13.067105,
        -56.465392,
        117.596035,
        39.408839,
        6.627403,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.263492,
        -7.316614,
        -41.269233,
        -169.637964,
        42.005828,
        140.52529,
        0.0
      ]
    ],
    "turn_angle": 225.83892452027007,
    "filename": "scan-0071_light-7_camera-71.png"
  },
  {
    "id": 72,
    "scan_id": "0072",
    "camera_id": 72,
    "light_id": 7,
    "position": [
      513.007446,
      -136.381149,
      316.467438
    ],
    "rotation_matrix": [
      [
        0.7049909110754257,
        -0.7092163202919826,
        0.00016227304577348667
      ],
      [
        -6.2740199986977e-05,
        0.00016643972942975704,
        0.9999999841807419
      ],
      [
        -0.7092163360813883,
        -0.7049909101040357,
        7.284212272062884e-05
      ]
    ],
    "position_light": [
      -84.410423,
      210.456741,
      185.789124
    ],
    "rotation_matrix_light": [
      [
        0.3335195693395338,
        -0.5301660353302997,
        -0.779543887058146
      ],
      [
        -0.41509377223202537,
        0.6598377316461542,
        -0.6263476096787195
      ],
      [
        0.8464406991170496,
        0.5324829977362746,
        1.765780489604296e-07
      ]
    ],
    "servo_angle": [
      [
        50.427219,
        -7.206033,
        -57.55596,
        117.821609,
        45.956372,
        9.215167,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.263492,
        -7.316614,
        -41.269233,
        -169.637964,
        42.005828,
        140.52529,
        0.0
      ]
    ],
    "turn_angle": 225.83892452027007,
    "filename": "scan-0072_light-7_camera-72.png"
  },
  {
    "id": 73,
    "scan_id": "0073",
    "camera_id": 73,
    "light_id": 7,
    "position": [
      535.641113,
      -136.381149,
      294.20105
    ],
    "rotation_matrix": [
      [
        0.660370715241528,
        -0.7509397383949932,
        0.0001665852696515202
      ],
      [
        -6.273407647855445e-05,
        0.00016666786115671073,
        0.9999999841431297
      ],
      [
        -0.7509397542518497,
        -0.6603707152206884,
        6.295306370052156e-05
      ]
    ],
    "position_light": [
      -84.410423,
      210.456741,
      185.789124
    ],
    "rotation_matrix_light": [
      [
        0.3335195693395338,
        -0.5301660353302997,
        -0.779543887058146
      ],
      [
        -0.41509377223202537,
        0.6598377316461542,
        -0.6263476096787195
      ],
      [
        0.8464406991170496,
        0.5324829977362746,
        1.765780489604296e-07
      ]
    ],
    "servo_angle": [
      [
        47.602709,
        -3.139637,
        -58.580523,
        118.010054,
        49.602274,
        10.642405,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.263492,
        -7.316614,
        -41.269233,
        -169.637964,
        42.005828,
        140.52529,
        0.0
      ]
    ],
    "turn_angle": 225.83892452027007,
    "filename": "scan-0073_light-7_camera-73.png"
  },
  {
    "id": 74,
    "scan_id": "0074",
    "camera_id": 74,
    "light_id": 7,
    "position": [
      557.407654,
      -136.381149,
      269.960876
    ],
    "rotation_matrix": [
      [
        0.6120255472998293,
        -0.7908379735389299,
        0.00017047340931708455
      ],
      [
        -6.303366143334266e-05,
        0.00016677903677320138,
        0.9999999841057551
      ],
      [
        -0.7908379894005485,
        -0.6120255483177085,
        5.2223618186575393e-05
      ]
    ],
    "position_light": [
      -84.410423,
      210.456741,
      185.789124
    ],
    "rotation_matrix_light": [
      [
        0.3335195693395338,
        -0.5301660353302997,
        -0.779543887058146
      ],
      [
        -0.41509377223202537,
        0.6598377316461542,
        -0.6263476096787195
      ],
      [
        0.8464406991170496,
        0.5324829977362746,
        1.765780489604296e-07
      ]
    ],
    "servo_angle": [
      [
        45.084617,
        1.256611,
        -59.874147,
        118.207725,
        52.980892,
        12.013607,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.263492,
        -7.316614,
        -41.269233,
        -169.637964,
        42.005828,
        140.52529,
        0.0
      ]
    ],
    "turn_angle": 225.83892452027007,
    "filename": "scan-0074_light-7_camera-74.png"
  },
  {
    "id": 75,
    "scan_id": "0075",
    "camera_id": 75,
    "light_id": 7,
    "position": [
      574.602417,
      -136.381149,
      248.427017
    ],
    "rotation_matrix": [
      [
        0.5692499891292794,
        -0.8221644726153412,
        0.00017275836606978068
      ],
      [
        -6.262211154889341e-05,
        0.0001667680027258589,
        0.999999984133452
      ],
      [
        -0.8221644883809969,
        -0.5692499909157408,
        4.344700842318083e-05
      ]
    ],
    "position_light": [
      -84.410423,
      210.456741,
      185.789124
    ],
    "rotation_matrix_light": [
      [
        0.3335195693395338,
        -0.5301660353302997,
        -0.779543887058146
      ],
      [
        -0.41509377223202537,
        0.6598377316461542,
        -0.6263476096787195
      ],
      [
        0.8464406991170496,
        0.5324829977362746,
        1.765780489604296e-07
      ]
    ],
    "servo_angle": [
      [
        43.224051,
        5.116857,
        -61.145311,
        118.3697,
        55.576333,
        13.134083,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.263492,
        -7.316614,
        -41.269233,
        -169.637964,
        42.005828,
        140.52529,
        0.0
      ]
    ],
    "turn_angle": 225.83892452027007,
    "filename": "scan-0075_light-7_camera-75.png"
  },
  {
    "id": 76,
    "scan_id": "0076",
    "camera_id": 76,
    "light_id": 7,
    "position": [
      588.953613,
      -136.381149,
      228.479828
    ],
    "rotation_matrix": [
      [
        0.5297530028690751,
        -0.8481519470232295,
        0.0001752481157887842
      ],
      [
        -6.303877914409783e-05,
        0.00016724966668840713,
        0.9999999840268303
      ],
      [
        -0.8481519627857437,
        -0.529753005454668,
        3.513454988807174e-05
      ]
    ],
    "position_light": [
      -84.410423,
      210.456741,
      185.789124
    ],
    "rotation_matrix_light": [
      [
        0.3335195693395338,
        -0.5301660353302997,
        -0.779543887058146
      ],
      [
        -0.41509377223202537,
        0.6598377316461542,
        -0.6263476096787195
      ],
      [
        0.8464406991170496,
        0.5324829977362746,
        1.765780489604296e-07
      ]
    ],
    "servo_angle": [
      [
        41.752294,
        8.64748,
        -62.406334,
        118.508184,
        57.705043,
        14.12192,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.263492,
        -7.316614,
        -41.269233,
        -169.637964,
        42.005828,
        140.52529,
        0.0
      ]
    ],
    "turn_angle": 225.83892452027007,
    "filename": "scan-0076_light-7_camera-76.png"
  },
  {
    "id": 77,
    "scan_id": "0077",
    "camera_id": 77,
    "light_id": 7,
    "position": [
      617.158997,
      -136.381149,
      182.259552
    ],
    "rotation_matrix": [
      [
        0.4386378162512926,
        -0.8986639164170027,
        0.0001774383039363503
      ],
      [
        -6.272293847092714e-05,
        0.0001668317216473314,
        0.9999999841165048
      ],
      [
        -0.8986639317454164,
        -0.43863782041364274,
        1.6811860529375444e-05
      ]
    ],
    "position_light": [
      -84.410423,
      210.456741,
      185.789124
    ],
    "rotation_matrix_light": [
      [
        0.3335195693395338,
        -0.5301660353302997,
        -0.779543887058146
      ],
      [
        -0.41509377223202537,
        0.6598377316461542,
        -0.6263476096787195
      ],
      [
        0.8464406991170496,
        0.5324829977362746,
        1.765780489604296e-07
      ]
    ],
    "servo_angle": [
      [
        39.055897,
        16.651758,
        -65.57691,
        118.796955,
        61.844377,
        16.32162,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.263492,
        -7.316614,
        -41.269233,
        -169.637964,
        42.005828,
        140.52529,
        0.0
      ]
    ],
    "turn_angle": 225.83892452027007,
    "filename": "scan-0077_light-7_camera-77.png"
  },
  {
    "id": 78,
    "scan_id": "0078",
    "camera_id": 78,
    "light_id": 7,
    "position": [
      629.291687,
      -136.381149,
      158.376205
    ],
    "rotation_matrix": [
      [
        0.39175226847662503,
        -0.9200707191189241,
        0.00017878312041685884
      ],
      [
        -6.307471053940139e-05,
        0.0001674582762123955,
        0.9999999839896532
      ],
      [
        -0.9200707343269859,
        -0.39175227348122893,
        7.5689652971333565e-06
      ]
    ],
    "position_light": [
      -84.410423,
      210.456741,
      185.789124
    ],
    "rotation_matrix_light": [
      [
        0.3335195693395338,
        -0.5301660353302997,
        -0.779543887058146
      ],
      [
        -0.41509377223202537,
        0.6598377316461542,
        -0.6263476096787195
      ],
      [
        0.8464406991170496,
        0.5324829977362746,
        1.765780489604296e-07
      ]
    ],
    "servo_angle": [
      [
        37.967679,
        20.693517,
        -67.328729,
        118.936527,
        63.640714,
        17.443757,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.263492,
        -7.316614,
        -41.269233,
        -169.637964,
        42.005828,
        140.52529,
        0.0
      ]
    ],
    "turn_angle": 225.83892452027007,
    "filename": "scan-0078_light-7_camera-78.png"
  },
  {
    "id": 79,
    "scan_id": "0079",
    "camera_id": 79,
    "light_id": 7,
    "position": [
      645.570984,
      -136.381149,
      120.3442
    ],
    "rotation_matrix": [
      [
        0.31733444249392034,
        -0.9483136716174627,
        0.00017841098642540354
      ],
      [
        -6.283463333134343e-05,
        0.0001671086213217987,
        0.9999999840632587
      ],
      [
        -0.9483136863184469,
        -0.31733444864703225,
        -6.557620656155727e-06
      ]
    ],
    "position_light": [
      -84.410423,
      210.456741,
      185.789124
    ],
    "rotation_matrix_light": [
      [
        0.3335195693395338,
        -0.5301660353302997,
        -0.779543887058146
      ],
      [
        -0.41509377223202537,
        0.6598377316461542,
        -0.6263476096787195
      ],
      [
        0.8464406991170496,
        0.5324829977362746,
        1.765780489604296e-07
      ]
    ],
    "servo_angle": [
      [
        36.564562,
        27.009288,
        -70.254194,
        119.15872,
        66.129471,
        19.247257,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -134.263492,
        -7.316614,
        -41.269233,
        -169.637964,
        42.005828,
        140.52529,
        0.0
      ]
    ],
    "turn_angle": 225.83892452027007,
    "filename": "scan-0079_light-7_camera-79.png"
  },
  {
    "id": 80,
    "scan_id": "0080",
    "camera_id": 80,
    "light_id": 8,
    "position": [
      637.052124,
      -136.381149,
      141.283585
    ],
    "rotation_matrix": [
      [
        0.3582710251051989,
        -0.9336176095407582,
        0.00017811645114240715
      ],
      [
        -6.269892190896575e-05,
        0.0001667205499348845,
        0.9999999841365514
      ],
      [
        -0.933617624426036,
        -0.3582710305894945,
        1.1943247378298771e-06
      ]
    ],
    "position_light": [
      -13.724753,
      208.570557,
      232.862762
    ],
    "rotation_matrix_light": [
      [
        0.3206198446706597,
        -0.38912874981007295,
        -0.8635865511195803
      ],
      [
        -0.5491520839845363,
        0.6664936008170647,
        -0.5042006234876588
      ],
      [
        0.7717738683440912,
        0.6358970798337988,
        2.1087145712916922e-07
      ]
    ],
    "servo_angle": [
      [
        37.291359,
        23.549368,
        -68.623843,
        119.035649,
        64.810694,
        18.250253,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -126.245234,
        -21.54327,
        -34.743473,
        -142.103102,
        40.226335,
        110.261832,
        0.0
      ]
    ],
    "turn_angle": 240.16685191237804,
    "filename": "scan-0080_light-8_camera-80.png"
  },
  {
    "id": 81,
    "scan_id": "0081",
    "camera_id": 81,
    "light_id": 8,
    "position": [
      622.475708,
      -136.381149,
      172.166275
    ],
    "rotation_matrix": [
      [
        0.41880806821822425,
        -0.9080747602227708,
        0.00017844236092090515
      ],
      [
        -6.281852862199955e-05,
        0.00016753406008856997,
        0.9999999839930853
      ],
      [
        -0.908074775582469,
        -0.41880807272388587,
        1.3120695750434841e-05
      ]
    ],
    "position_light": [
      -13.724753,
      208.570557,
      232.862762
    ],
    "rotation_matrix_light": [
      [
        0.3206198446706597,
        -0.38912874981007295,
        -0.8635865511195803
      ],
      [
        -0.5491520839845363,
        0.6664936008170647,
        -0.5042006234876588
      ],
      [
        0.7717738683440912,
        0.6358970798337988,
        2.1087145712916922e-07
      ]
    ],
    "servo_angle": [
      [
        38.574154,
        18.367365,
        -66.308692,
        118.856313,
        62.628183,
        16.795685,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -126.245234,
        -21.54327,
        -34.743473,
        -142.103102,
        40.226335,
        110.261832,
        0.0
      ]
    ],
    "turn_angle": 240.16685191237804,
    "filename": "scan-0081_light-8_camera-81.png"
  },
  {
    "id": 82,
    "scan_id": "0082",
    "camera_id": 82,
    "light_id": 8,
    "position": [
      618.252319,
      -136.381149,
      180.227478
    ],
    "rotation_matrix": [
      [
        0.43464344196426585,
        -0.9006026018455642,
        0.00017862378398358914
      ],
      [
        -6.302414893083474e-05,
        0.00016792173127461174,
        0.9999999839151243
      ],
      [
        -0.9006026173542983,
        -0.43464344623069207,
        1.6226366755578425e-05
      ]
    ],
    "position_light": [
      -13.724753,
      208.570557,
      232.862762
    ],
    "rotation_matrix_light": [
      [
        0.3206198446706597,
        -0.38912874981007295,
        -0.8635865511195803
      ],
      [
        -0.5491520839845363,
        0.6664936008170647,
        -0.5042006234876588
      ],
      [
        0.7717738683440912,
        0.6358970798337988,
        2.1087145712916922e-07
      ]
    ],
    "servo_angle": [
      [
        38.956203,
        16.998111,
        -65.723187,
        118.808929,
        62.005263,
        16.417074,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -126.245234,
        -21.54327,
        -34.743473,
        -142.103102,
        40.226335,
        110.261832,
        0.0
      ]
    ],
    "turn_angle": 240.16685191237804,
    "filename": "scan-0082_light-8_camera-82.png"
  },
  {
    "id": 83,
    "scan_id": "0083",
    "camera_id": 83,
    "light_id": 8,
    "position": [
      588.458679,
      -136.381149,
      229.201981
    ],
    "rotation_matrix": [
      [
        0.531180537629608,
        -0.847258641797155,
        0.00017419403187363125
      ],
      [
        -6.268021243638344e-05,
        0.00016630048161347943,
        0.9999999842076702
      ],
      [
        -0.8472586573855185,
        -0.5311805401595487,
        3.522922757503988e-05
      ]
    ],
    "position_light": [
      -13.724753,
      208.570557,
      232.862762
    ],
    "rotation_matrix_light": [
      [
        0.3206198446706597,
        -0.38912874981007295,
        -0.8635865511195803
      ],
      [
        -0.5491520839845363,
        0.6664936008170647,
        -0.5042006234876588
      ],
      [
        0.7717738683440912,
        0.6358970798337988,
        2.1087145712916922e-07
      ]
    ],
    "servo_angle": [
      [
        41.801912,
        8.520455,
        -62.359409,
        118.503314,
        57.632048,
        14.08674,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -126.245234,
        -21.54327,
        -34.743473,
        -142.103102,
        40.226335,
        110.261832,
        0.0
      ]
    ],
    "turn_angle": 240.16685191237804,
    "filename": "scan-0083_light-8_camera-83.png"
  },
  {
    "id": 84,
    "scan_id": "0084",
    "camera_id": 84,
    "light_id": 8,
    "position": [
      576.58728,
      -136.381149,
      245.783997
    ],
    "rotation_matrix": [
      [
        0.5640103690539388,
        -0.8257676874273272,
        0.00017320670798098847
      ],
      [
        -6.260680965347598e-05,
        0.0001669910526992946,
        0.9999999840971876
      ],
      [
        -0.8257677032192692,
        -0.5640103709285071,
        4.24860048369724e-05
      ]
    ],
    "position_light": [
      -13.724753,
      208.570557,
      232.862762
    ],
    "rotation_matrix_light": [
      [
        0.3206198446706597,
        -0.38912874981007295,
        -0.8635865511195803
      ],
      [
        -0.5491520839845363,
        0.6664936008170647,
        -0.5042006234876588
      ],
      [
        0.7717738683440912,
        0.6358970798337988,
        2.1087145712916922e-07
      ]
    ],
    "servo_angle": [
      [
        43.016182,
        5.587198,
        -61.308088,
        118.388665,
        55.872495,
        13.267239,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -126.245234,
        -21.54327,
        -34.743473,
        -142.103102,
        40.226335,
        110.261832,
        0.0
      ]
    ],
    "turn_angle": 240.16685191237804,
    "filename": "scan-0084_light-8_camera-84.png"
  },
  {
    "id": 85,
    "scan_id": "0085",
    "camera_id": 85,
    "light_id": 8,
    "position": [
      563.050354,
      -136.381149,
      263.149445
    ],
    "rotation_matrix": [
      [
        0.5984790870932255,
        -0.8011384106923269,
        0.00017095447490800275
      ],
      [
        -6.283971056481041e-05,
        0.00016644591971959333,
        0.9999999841734636
      ],
      [
        -0.8011384264677552,
        -0.5984790883641039,
        4.92710962338716e-05
      ]
    ],
    "position_light": [
      -13.724753,
      208.570557,
      232.862762
    ],
    "rotation_matrix_light": [
      [
        0.3206198446706597,
        -0.38912874981007295,
        -0.8635865511195803
      ],
      [
        -0.5491520839845363,
        0.6664936008170647,
        -0.5042006234876588
      ],
      [
        0.7717738683440912,
        0.6358970798337988,
        2.1087145712916922e-07
      ]
    ],
    "servo_angle": [
      [
        44.461926,
        2.482798,
        -60.265019,
        118.260437,
        53.839011,
        12.375831,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -126.245234,
        -21.54327,
        -34.743473,
        -142.103102,
        40.226335,
        110.261832,
        0.0
      ]
    ],
    "turn_angle": 240.16685191237804,
    "filename": "scan-0085_light-8_camera-85.png"
  },
  {
    "id": 86,
    "scan_id": "0086",
    "camera_id": 86,
    "light_id": 8,
    "position": [
      527.92627,
      -136.381149,
      302.099304
    ],
    "rotation_matrix": [
      [
        0.6761727300948419,
        -0.7367431110645641,
        0.00016545390951572259
      ],
      [
        -6.288987635200138e-05,
        0.00016685529277554734,
        0.9999999841020876
      ],
      [
        -0.7367431269587469,
        -0.6761727297504828,
        6.648931568881133e-05
      ]
    ],
    "position_light": [
      -13.724753,
      208.570557,
      232.862762
    ],
    "rotation_matrix_light": [
      [
        0.3206198446706597,
        -0.38912874981007295,
        -0.8635865511195803
      ],
      [
        -0.5491520839845363,
        0.6664936008170647,
        -0.5042006234876588
      ],
      [
        0.7717738683440912,
        0.6358970798337988,
        2.1087145712916922e-07
      ]
    ],
    "servo_angle": [
      [
        48.541156,
        -4.580397,
        -58.196813,
        117.94319,
        48.375743,
        10.158943,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -126.245234,
        -21.54327,
        -34.743473,
        -142.103102,
        40.226335,
        110.261832,
        0.0
      ]
    ],
    "turn_angle": 240.16685191237804,
    "filename": "scan-0086_light-8_camera-86.png"
  },
  {
    "id": 87,
    "scan_id": "0087",
    "camera_id": 87,
    "light_id": 8,
    "position": [
      511.477722,
      -136.381149,
      317.87735
    ],
    "rotation_matrix": [
      [
        0.7078235329551015,
        -0.7063892834188351,
        0.00016268368913968656
      ],
      [
        -6.29922872982247e-05,
        0.00016718297682466465,
        0.9999999840409117
      ],
      [
        -0.7063892993434497,
        -0.707823531906701,
        7.383896862050987e-05
      ]
    ],
    "position_light": [
      -13.724753,
      208.570557,
      232.862762
    ],
    "rotation_matrix_light": [
      [
        0.3206198446706597,
        -0.38912874981007295,
        -0.8635865511195803
      ],
      [
        -0.5491520839845363,
        0.6664936008170647,
        -0.5042006234876588
      ],
      [
        0.7717738683440912,
        0.6358970798337988,
        2.1087145712916922e-07
      ]
    ],
    "servo_angle": [
      [
        50.626035,
        -7.463692,
        -57.497461,
        117.809863,
        45.704614,
        9.117248,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -126.245234,
        -21.54327,
        -34.743473,
        -142.103102,
        40.226335,
        110.261832,
        0.0
      ]
    ],
    "turn_angle": 240.16685191237804,
    "filename": "scan-0087_light-8_camera-87.png"
  },
  {
    "id": 88,
    "scan_id": "0088",
    "camera_id": 88,
    "light_id": 8,
    "position": [
      478.825043,
      -136.381149,
      345.465851
    ],
    "rotation_matrix": [
      [
        0.7634792422929546,
        -0.6458323486058091,
        0.00015518402154429678
      ],
      [
        -6.260191446577634e-05,
        0.00016627961901299892,
        0.9999999842160441
      ],
      [
        -0.6458323642159598,
        -0.7634792399570487,
        8.652069608611201e-05
      ]
    ],
    "position_light": [
      -13.724753,
      208.570557,
      232.862762
    ],
    "rotation_matrix_light": [
      [
        0.3206198446706597,
        -0.38912874981007295,
        -0.8635865511195803
      ],
      [
        -0.5491520839845363,
        0.6664936008170647,
        -0.5042006234876588
      ],
      [
        0.7717738683440912,
        0.6358970798337988,
        2.1087145712916922e-07
      ]
    ],
    "servo_angle": [
      [
        55.117394,
        -12.479536,
        -56.548528,
        117.611734,
        40.15695,
        6.930899,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -126.245234,
        -21.54327,
        -34.743473,
        -142.103102,
        40.226335,
        110.261832,
        0.0
      ]
    ],
    "turn_angle": 240.16685191237804,
    "filename": "scan-0088_light-8_camera-88.png"
  },
  {
    "id": 89,
    "scan_id": "0089",
    "camera_id": 89,
    "light_id": 8,
    "position": [
      458.967499,
      -136.381149,
      360.147156
    ],
    "rotation_matrix": [
      [
        0.7932951841667399,
        -0.608837193316061,
        0.00015103933117743829
      ],
      [
        -6.266524413345298e-05,
        0.00016642756637702538,
        0.999999984187466
      ],
      [
        -0.6088372088259105,
        -0.7932951810876494,
        9.387325556281523e-05
      ]
    ],
    "position_light": [
      -13.724753,
      208.570557,
      232.862762
    ],
    "rotation_matrix_light": [
      [
        0.3206198446706597,
        -0.38912874981007295,
        -0.8635865511195803
      ],
      [
        -0.5491520839845363,
        0.6664936008170647,
        -0.5042006234876588
      ],
      [
        0.7717738683440912,
        0.6358970798337988,
        2.1087145712916922e-07
      ]
    ],
    "servo_angle": [
      [
        58.0848,
        -15.095146,
        -56.237297,
        117.568189,
        36.615212,
        5.463095,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -126.245234,
        -21.54327,
        -34.743473,
        -142.103102,
        40.226335,
        110.261832,
        0.0
      ]
    ],
    "turn_angle": 240.16685191237804,
    "filename": "scan-0089_light-8_camera-89.png"
  },
  {
    "id": 90,
    "scan_id": "0090",
    "camera_id": 90,
    "light_id": 9,
    "position": [
      430.739166,
      -136.381149,
      378.657471
    ],
    "rotation_matrix": [
      [
        0.831143692663936,
        -0.556057677692946,
        0.00014568350942012476
      ],
      [
        -6.315996877220842e-05,
        0.0001675878261344077,
        0.9999999839625695
      ],
      [
        -0.5560576931899921,
        -0.8311436885358925,
        0.0001041689791002054
      ]
    ],
    "position_light": [
      418.62796,
      202.950348,
      263.735382
    ],
    "rotation_matrix_light": [
      [
        0.4215874173502017,
        0.527806519464536,
        0.737349528746523
      ],
      [
        0.460180412460536,
        0.5761235245417542,
        -0.6755114154899516
      ],
      [
        -0.7813437383889617,
        0.6241009233131444,
        2.0695970354145388e-07
      ]
    ],
    "servo_angle": [
      [
        62.608416,
        -18.26578,
        -56.127977,
        117.686562,
        31.362335,
        3.086982,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.807269,
        -25.133195,
        -37.464622,
        -203.894365,
        29.576081,
        60.040305,
        0.0
      ]
    ],
    "turn_angle": 279.779893008158,
    "filename": "scan-0090_light-9_camera-90.png"
  },
  {
    "id": 91,
    "scan_id": "0091",
    "camera_id": 91,
    "light_id": 9,
    "position": [
      407.279297,
      -136.381149,
      392.148346
    ],
    "rotation_matrix": [
      [
        0.8589601001886289,
        -0.5120425049731918,
        0.00013922901620433414
      ],
      [
        -6.271020546372297e-05,
        0.00016671164756582035,
        0.999999984137328
      ],
      [
        -0.5120425200619283,
        -0.858960095294307,
        0.00011108836280276924
      ]
    ],
    "position_light": [
      418.62796,
      202.950348,
      263.735382
    ],
    "rotation_matrix_light": [
      [
        0.4215874173502017,
        0.527806519464536,
        0.737349528746523
      ],
      [
        0.460180412460536,
        0.5761235245417542,
        -0.6755114154899516
      ],
      [
        -0.7813437383889617,
        0.6241009233131444,
        2.0695970354145388e-07
      ]
    ],
    "servo_angle": [
      [
        66.623933,
        -20.414887,
        -56.338596,
        118.045807,
        26.81706,
        0.738657,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.807269,
        -25.133195,
        -37.464622,
        -203.894365,
        29.576081,
        60.040305,
        0.0
      ]
    ],
    "turn_angle": 279.779893008158,
    "filename": "scan-0091_light-9_camera-91.png"
  },
  {
    "id": 92,
    "scan_id": "0092",
    "camera_id": 92,
    "light_id": 9,
    "position": [
      374.0047,
      -136.381149,
      408.638733
    ],
    "rotation_matrix": [
      [
        0.8933309016140747,
        -0.44939946941062836,
        0.00013082365933822504
      ],
      [
        -6.25377694949969e-05,
        0.00016679311026568389,
        0.9999999841345426
      ],
      [
        -0.44939948410118535,
        -0.8933308956223913,
        0.00012089699914752394
      ]
    ],
    "position_light": [
      418.62796,
      202.950348,
      263.735382
    ],
    "rotation_matrix_light": [
      [
        0.4215874173502017,
        0.527806519464536,
        0.737349528746523
      ],
      [
        0.460180412460536,
        0.5761235245417542,
        -0.6755114154899516
      ],
      [
        -0.7813437383889617,
        0.6241009233131444,
        2.0695970354145388e-07
      ]
    ],
    "servo_angle": [
      [
        72.643657,
        -22.700015,
        -57.144748,
        119.263228,
        20.155567,
        -3.489599,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.807269,
        -25.133195,
        -37.464622,
        -203.894365,
        29.576081,
        60.040305,
        0.0
      ]
    ],
    "turn_angle": 279.779893008158,
    "filename": "scan-0092_light-9_camera-92.png"
  },
  {
    "id": 93,
    "scan_id": "0093",
    "camera_id": 93,
    "light_id": 9,
    "position": [
      345.226868,
      -136.381149,
      420.615753
    ],
    "rotation_matrix": [
      [
        0.9186640752194208,
        -0.39503962037477736,
        0.00012343175473167323
      ],
      [
        -6.246734529116726e-05,
        0.00016718638679791287,
        0.9999999840732714
      ],
      [
        -0.3950396347191976,
        -0.9186640682985614,
        0.00012891105104728684
      ]
    ],
    "position_light": [
      418.62796,
      202.950348,
      263.735382
    ],
    "rotation_matrix_light": [
      [
        0.4215874173502017,
        0.527806519464536,
        0.737349528746523
      ],
      [
        0.460180412460536,
        0.5761235245417542,
        -0.6755114154899516
      ],
      [
        -0.7813437383889617,
        0.6241009233131444,
        2.0695970354145388e-07
      ]
    ],
    "servo_angle": [
      [
        78.016283,
        -23.941156,
        -58.406172,
        121.491117,
        14.307558,
        -8.504069,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.807269,
        -25.133195,
        -37.464622,
        -203.894365,
        29.576081,
        60.040305,
        0.0
      ]
    ],
    "turn_angle": 279.779893008158,
    "filename": "scan-0093_light-9_camera-93.png"
  },
  {
    "id": 94,
    "scan_id": "0094",
    "camera_id": 94,
    "light_id": 9,
    "position": [
      291.706848,
      -136.381149,
      437.777252
    ],
    "rotation_matrix": [
      [
        0.9559493973037347,
        -0.2935314938103696,
        0.00010925236463618648
      ],
      [
        -6.310064469980392e-05,
        0.0001666987722347968,
        0.9999999841149138
      ],
      [
        -0.2935315073598316,
        -0.9559493890122909,
        0.00014083356434996253
      ]
    ],
    "position_light": [
      418.62796,
      202.950348,
      263.735382
    ],
    "rotation_matrix_light": [
      [
        0.4215874173502017,
        0.527806519464536,
        0.737349528746523
      ],
      [
        0.460180412460536,
        0.5761235245417542,
        -0.6755114154899516
      ],
      [
        -0.7813437383889617,
        0.6241009233131444,
        2.0695970354145388e-07
      ]
    ],
    "servo_angle": [
      [
        87.336816,
        -24.396371,
        -62.744895,
        132.252009,
        3.992026,
        -24.901204,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.807269,
        -25.133195,
        -37.464622,
        -203.894365,
        29.576081,
        60.040305,
        0.0
      ]
    ],
    "turn_angle": 279.779893008158,
    "filename": "scan-0094_light-9_camera-94.png"
  },
  {
    "id": 95,
    "scan_id": "0095",
    "camera_id": 95,
    "light_id": 9,
    "position": [
      273.818359,
      -136.381149,
      442.126251
    ],
    "rotation_matrix": [
      [
        0.9657450349636987,
        -0.25949280650155715,
        0.00010400437256161132
      ],
      [
        -6.276962362380956e-05,
        0.00016719121861913377,
        0.9999999840535351
      ],
      [
        -0.2594928197521821,
        -0.9657450260917949,
        0.00014517582347378655
      ]
    ],
    "position_light": [
      418.62796,
      202.950348,
      263.735382
    ],
    "rotation_matrix_light": [
      [
        0.4215874173502017,
        0.527806519464536,
        0.737349528746523
      ],
      [
        0.460180412460536,
        0.5761235245417542,
        -0.6755114154899516
      ],
      [
        -0.7813437383889617,
        0.6241009233131444,
        2.0695970354145388e-07
      ]
    ],
    "servo_angle": [
      [
        89.648987,
        -24.034892,
        -64.961038,
        139.635258,
        1.073952,
        -34.300519,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.807269,
        -25.133195,
        -37.464622,
        -203.894365,
        29.576081,
        60.040305,
        0.0
      ]
    ],
    "turn_angle": 279.779893008158,
    "filename": "scan-0095_light-9_camera-95.png"
  },
  {
    "id": 96,
    "scan_id": "0096",
    "camera_id": 96,
    "light_id": 9,
    "position": [
      235.463074,
      -136.381149,
      449.234344
    ],
    "rotation_matrix": [
      [
        0.9824871014983152,
        -0.18633058458211077,
        9.29447561951735e-05
      ],
      [
        -6.288037682232461e-05,
        0.00016725968855796358,
        0.9999999840351271
      ],
      [
        -0.18633059715327766,
        -0.982487091657435,
        0.00015261394923687943
      ]
    ],
    "position_light": [
      418.62796,
      202.950348,
      263.735382
    ],
    "rotation_matrix_light": [
      [
        0.4215874173502017,
        0.527806519464536,
        0.737349528746523
      ],
      [
        0.460180412460536,
        0.5761235245417542,
        -0.6755114154899516
      ],
      [
        -0.7813437383889617,
        0.6241009233131444,
        2.0695970354145388e-07
      ]
    ],
    "servo_angle": [
      [
        91.240492,
        -22.876085,
        -70.06867,
        166.241756,
        -3.165764,
        -65.309396,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.807269,
        -25.133195,
        -37.464622,
        -203.894365,
        29.576081,
        60.040305,
        0.0
      ]
    ],
    "turn_angle": 279.779893008158,
    "filename": "scan-0096_light-9_camera-96.png"
  },
  {
    "id": 97,
    "scan_id": "0097",
    "camera_id": 97,
    "light_id": 9,
    "position": [
      185.328156,
      -136.381149,
      454.124359
    ],
    "rotation_matrix": [
      [
        0.9959104682674891,
        -0.09034563175061017,
        7.758101493470643e-05
      ],
      [
        -6.274871946513466e-05,
        0.00016701313413713947,
        0.9999999840846056
      ],
      [
        -0.09034564326977226,
        -0.9959104572852905,
        0.0001606610559237165
      ]
    ],
    "position_light": [
      418.62796,
      202.950348,
      263.735382
    ],
    "rotation_matrix_light": [
      [
        0.4215874173502017,
        0.527806519464536,
        0.737349528746523
      ],
      [
        0.460180412460536,
        0.5761235245417542,
        -0.6755114154899516
      ],
      [
        -0.7813437383889617,
        0.6241009233131444,
        2.0695970354145388e-07
      ]
    ],
    "servo_angle": [
      [
        88.961954,
        -23.022533,
        -69.458642,
        213.785049,
        -2.8688,
        -118.346151,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.807269,
        -25.133195,
        -37.464622,
        -203.894365,
        29.576081,
        60.040305,
        0.0
      ]
    ],
    "turn_angle": 279.779893008158,
    "filename": "scan-0097_light-9_camera-97.png"
  },
  {
    "id": 98,
    "scan_id": "0098",
    "camera_id": 98,
    "light_id": 9,
    "position": [
      154.17247,
      -136.381149,
      454.709229
    ],
    "rotation_matrix": [
      [
        0.9995347564520003,
        -0.030500262519406574,
        6.804914898734041e-05
      ],
      [
        -6.297707276576095e-05,
        0.00016725675093226533,
        0.9999999840295333
      ],
      [
        -0.03050027341398272,
        -0.9995347447745004,
        0.0001652581185559998
      ]
    ],
    "position_light": [
      418.62796,
      202.950348,
      263.735382
    ],
    "rotation_matrix_light": [
      [
        0.4215874173502017,
        0.527806519464536,
        0.737349528746523
      ],
      [
        0.460180412460536,
        0.5761235245417542,
        -0.6755114154899516
      ],
      [
        -0.7813437383889617,
        0.6241009233131444,
        2.0695970354145388e-07
      ]
    ],
    "servo_angle": [
      [
        91.167784,
        -23.843868,
        -65.852217,
        234.425453,
        0.813772,
        -142.382991,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.807269,
        -25.133195,
        -37.464622,
        -203.894365,
        29.576081,
        60.040305,
        0.0
      ]
    ],
    "turn_angle": 279.779893008158,
    "filename": "scan-0098_light-9_camera-98.png"
  },
  {
    "id": 99,
    "scan_id": "0099",
    "camera_id": 99,
    "light_id": 9,
    "position": [
      142.79689,
      -136.381149,
      454.457123
    ],
    "rotation_matrix": [
      [
        0.9999629150104179,
        -0.008611878512189097,
        6.44387995399013e-05
      ],
      [
        -6.300404948919851e-05,
        0.00016687248062047244,
        0.9999999840920323
      ],
      [
        -0.008611889128253938,
        -0.9999629031629454,
        0.0001663237089362668
      ]
    ],
    "position_light": [
      418.62796,
      202.950348,
      263.735382
    ],
    "rotation_matrix_light": [
      [
        0.4215874173502017,
        0.527806519464536,
        0.737349528746523
      ],
      [
        0.460180412460536,
        0.5761235245417542,
        -0.6755114154899516
      ],
      [
        -0.7813437383889617,
        0.6241009233131444,
        2.0695970354145388e-07
      ]
    ],
    "servo_angle": [
      [
        92.750408,
        -24.017589,
        -64.809147,
        239.262191,
        2.633887,
        -148.421164,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -53.807269,
        -25.133195,
        -37.464622,
        -203.894365,
        29.576081,
        60.040305,
        0.0
      ]
    ],
    "turn_angle": 279.779893008158,
    "filename": "scan-0099_light-9_camera-99.png"
  },
  {
    "id": 100,
    "scan_id": "0100",
    "camera_id": 100,
    "light_id": 10,
    "position": [
      138.116409,
      -136.381149,
      454.281006
    ],
    "rotation_matrix": [
      [
        0.9999999180172757,
        0.0004000050834379918,
        6.293945609995574e-05
      ],
      [
        -6.300638091493444e-05,
        0.00016729951206539972,
        0.9999999840205345
      ],
      [
        0.0003999945473058292,
        -0.9999999060033988,
        0.0001673247012223822
      ]
    ],
    "position_light": [
      157.608612,
      214.802094,
      161.133957
    ],
    "rotation_matrix_light": [
      [
        0.027666512757220707,
        -0.03998678442565001,
        -0.9988171109583336
      ],
      [
        -0.5683023126221745,
        0.8213818251041811,
        -0.04862487899021717
      ],
      [
        0.8223545740981463,
        0.568975354879121,
        1.886793727368108e-07
      ]
    ],
    "servo_angle": [
      [
        93.477377,
        -24.059529,
        -64.443714,
        240.913398,
        3.430986,
        -150.559328,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -80.427232,
        -18.60394,
        -22.345698,
        -83.968111,
        94.173807,
        104.797991,
        0.0
      ]
    ],
    "turn_angle": 309.9479100372743,
    "filename": "scan-0100_light-10_camera-100.png"
  },
  {
    "id": 101,
    "scan_id": "0101",
    "camera_id": 101,
    "light_id": 10,
    "position": [
      100.610039,
      -136.381149,
      451.337555
    ],
    "rotation_matrix": [
      [
        0.9973511754796891,
        0.07273671847480448,
        5.0545021634526566e-05
      ],
      [
        -6.283949321998078e-05,
        0.0001667386411113858,
        0.9999999841247116
      ],
      [
        0.07273670889227989,
        -0.9973511628226752,
        0.00017086771823771052
      ]
    ],
    "position_light": [
      157.608612,
      214.802094,
      161.133957
    ],
    "rotation_matrix_light": [
      [
        0.027666512757220707,
        -0.03998678442565001,
        -0.9988171109583336
      ],
      [
        -0.5683023126221745,
        0.8213818251041811,
        -0.04862487899021717
      ],
      [
        0.8223545740981463,
        0.568975354879121,
        1.886793727368108e-07
      ]
    ],
    "servo_angle": [
      [
        100.137495,
        -23.748012,
        -62.663248,
        249.243115,
        10.383084,
        -162.659968,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -80.427232,
        -18.60394,
        -22.345698,
        -83.968111,
        94.173807,
        104.797991,
        0.0
      ]
    ],
    "turn_angle": 309.9479100372743,
    "filename": "scan-0101_light-10_camera-101.png"
  },
  {
    "id": 102,
    "scan_id": "0102",
    "camera_id": 102,
    "light_id": 10,
    "position": [
      55.71587,
      -136.381149,
      444.172333
    ],
    "rotation_matrix": [
      [
        0.9871794427374873,
        0.159614368282403,
        3.569753433474432e-05
      ],
      [
        -6.318069240397739e-05,
        0.00016710993653701323,
        0.9999999840412347
      ],
      [
        0.15961435976974203,
        -0.9871794292387169,
        0.0001750520403321909
      ]
    ],
    "position_light": [
      157.608612,
      214.802094,
      161.133957
    ],
    "rotation_matrix_light": [
      [
        0.027666512757220707,
        -0.03998678442565001,
        -0.9988171109583336
      ],
      [
        -0.5683023126221745,
        0.8213818251041811,
        -0.04862487899021717
      ],
      [
        0.8223545740981463,
        0.568975354879121,
        1.886793727368108e-07
      ]
    ],
    "servo_angle": [
      [
        108.577737,
        -21.956258,
        -62.340558,
        253.105596,
        19.027413,
        -170.79127,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -80.427232,
        -18.60394,
        -22.345698,
        -83.968111,
        94.173807,
        104.797991,
        0.0
      ]
    ],
    "turn_angle": 309.9479100372743,
    "filename": "scan-0102_light-10_camera-102.png"
  },
  {
    "id": 103,
    "scan_id": "0103",
    "camera_id": 103,
    "light_id": 10,
    "position": [
      34.840195,
      -136.381149,
      439.446899
    ],
    "rotation_matrix": [
      [
        0.979770670916458,
        0.20012354092598028,
        2.7913462796888555e-05
      ],
      [
        -6.270652194084736e-05,
        0.00016751926618613355,
        0.9999999840025936
      ],
      [
        0.20012353304847985,
        -0.9797706569930246,
        0.00017667951503258505
      ]
    ],
    "position_light": [
      157.608612,
      214.802094,
      161.133957
    ],
    "rotation_matrix_light": [
      [
        0.027666512757220707,
        -0.03998678442565001,
        -0.9988171109583336
      ],
      [
        -0.5683023126221745,
        0.8213818251041811,
        -0.04862487899021717
      ],
      [
        0.8223545740981463,
        0.568975354879121,
        1.886793727368108e-07
      ]
    ],
    "servo_angle": [
      [
        112.36516,
        -20.649685,
        -62.613114,
        253.885391,
        22.926677,
        -173.472083,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -80.427232,
        -18.60394,
        -22.345698,
        -83.968111,
        94.173807,
        104.797991,
        0.0
      ]
    ],
    "turn_angle": 309.9479100372743,
    "filename": "scan-0103_light-10_camera-103.png"
  },
  {
    "id": 104,
    "scan_id": "0104",
    "camera_id": 104,
    "light_id": 10,
    "position": [
      1.637706,
      -136.381149,
      430.02832
    ],
    "rotation_matrix": [
      [
        0.964328906352079,
        0.26470693249559607,
        1.6204162379629405e-05
      ],
      [
        -6.267758084158026e-05,
        0.00016711931360152699,
        0.9999999840713276
      ],
      [
        0.2647069255711376,
        -0.9643288920072377,
        0.00017774917507645815
      ]
    ],
    "position_light": [
      157.608612,
      214.802094,
      161.133957
    ],
    "rotation_matrix_light": [
      [
        0.027666512757220707,
        -0.03998678442565001,
        -0.9988171109583336
      ],
      [
        -0.5683023126221745,
        0.8213818251041811,
        -0.04862487899021717
      ],
      [
        0.8223545740981463,
        0.568975354879121,
        1.886793727368108e-07
      ]
    ],
    "servo_angle": [
      [
        118.049818,
        -18.012303,
        -63.454675,
        254.471527,
        28.829002,
        -176.971651,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -80.427232,
        -18.60394,
        -22.345698,
        -83.968111,
        94.173807,
        104.797991,
        0.0
      ]
    ],
    "turn_angle": 309.9479100372743,
    "filename": "scan-0104_light-10_camera-104.png"
  },
  {
    "id": 105,
    "scan_id": "0105",
    "camera_id": 105,
    "light_id": 10,
    "position": [
      -39.724777,
      -136.381149,
      414.835052
    ],
    "rotation_matrix": [
      [
        0.9384410427350514,
        0.3454394437651425,
        1.2563383818831042e-06
      ],
      [
        -6.287854356928912e-05,
        0.00016718260949455388,
        0.9999999840481317
      ],
      [
        0.3454394380447001,
        -0.9384410278441602,
        0.00017861175149658237
      ]
    ],
    "position_light": [
      157.608612,
      214.802094,
      161.133957
    ],
    "rotation_matrix_light": [
      [
        0.027666512757220707,
        -0.03998678442565001,
        -0.9988171109583336
      ],
      [
        -0.5683023126221745,
        0.8213818251041811,
        -0.04862487899021717
      ],
      [
        0.8223545740981463,
        0.568975354879121,
        1.886793727368108e-07
      ]
    ],
    "servo_angle": [
      [
        124.444428,
        -13.848504,
        -65.097402,
        254.600729,
        35.566183,
        -180.553784,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -80.427232,
        -18.60394,
        -22.345698,
        -83.968111,
        94.173807,
        104.797991,
        0.0
      ]
    ],
    "turn_angle": 309.9479100372743,
    "filename": "scan-0105_light-10_camera-105.png"
  },
  {
    "id": 106,
    "scan_id": "0106",
    "camera_id": 106,
    "light_id": 10,
    "position": [
      -83.938583,
      -136.381149,
      393.939667
    ],
    "rotation_matrix": [
      [
        0.9018205482344303,
        0.4321107480140084,
        -1.526192876818988e-05
      ],
      [
        -6.313208853456209e-05,
        0.00016707694393158778,
        0.9999999840498174
      ],
      [
        0.43211074367167923,
        -0.90182053288671,
        0.00017795347517413074
      ]
    ],
    "position_light": [
      157.608612,
      214.802094,
      161.133957
    ],
    "rotation_matrix_light": [
      [
        0.027666512757220707,
        -0.03998678442565001,
        -0.9988171109583336
      ],
      [
        -0.5683023126221745,
        0.8213818251041811,
        -0.04862487899021717
      ],
      [
        0.8223545740981463,
        0.568975354879121,
        1.886793727368108e-07
      ]
    ],
    "servo_angle": [
      [
        130.405366,
        -8.415432,
        -67.514883,
        254.415721,
        41.973857,
        -183.895044,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -80.427232,
        -18.60394,
        -22.345698,
        -83.968111,
        94.173807,
        104.797991,
        0.0
      ]
    ],
    "turn_angle": 309.9479100372743,
    "filename": "scan-0106_light-10_camera-106.png"
  },
  {
    "id": 107,
    "scan_id": "0107",
    "camera_id": 107,
    "light_id": 10,
    "position": [
      -107.669792,
      -136.381149,
      380.516022
    ],
    "rotation_matrix": [
      [
        0.8779198537480907,
        0.4788076125121098,
        -2.44005023894156e-05
      ],
      [
        -6.320569217732608e-05,
        0.00016685205486655086,
        0.9999999840827161
      ],
      [
        0.478807608962067,
        -0.8779198382317404,
        0.0001767460981746405
      ]
    ],
    "position_light": [
      157.608612,
      214.802094,
      161.133957
    ],
    "rotation_matrix_light": [
      [
        0.027666512757220707,
        -0.03998678442565001,
        -0.9988171109583336
      ],
      [
        -0.5683023126221745,
        0.8213818251041811,
        -0.04862487899021717
      ],
      [
        0.8223545740981463,
        0.568975354879121,
        1.886793727368108e-07
      ]
    ],
    "servo_angle": [
      [
        133.2497,
        -5.101616,
        -69.092006,
        254.261939,
        45.088054,
        -185.596271,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -80.427232,
        -18.60394,
        -22.345698,
        -83.968111,
        94.173807,
        104.797991,
        0.0
      ]
    ],
    "turn_angle": 309.9479100372743,
    "filename": "scan-0107_light-10_camera-107.png"
  },
  {
    "id": 108,
    "scan_id": "0108",
    "camera_id": 108,
    "light_id": 10,
    "position": [
      -127.21389,
      -136.381149,
      368.174103
    ],
    "rotation_matrix": [
      [
        0.8557627428438774,
        0.51736846333808,
        -3.321924616372929e-05
      ],
      [
        -6.247677560361486e-05,
        0.00016754894940435028,
        0.9999999840120013
      ],
      [
        0.5173684606322433,
        -0.855762727086512,
        0.0001757056618913455
      ]
    ],
    "position_light": [
      157.608612,
      214.802094,
      161.133957
    ],
    "rotation_matrix_light": [
      [
        0.027666512757220707,
        -0.03998678442565001,
        -0.9988171109583336
      ],
      [
        -0.5683023126221745,
        0.8213818251041811,
        -0.04862487899021717
      ],
      [
        0.8223545740981463,
        0.568975354879121,
        1.886793727368108e-07
      ]
    ],
    "servo_angle": [
      [
        135.419377,
        -2.164921,
        -70.543939,
        254.125461,
        47.493961,
        -186.985636,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -80.427232,
        -18.60394,
        -22.345698,
        -83.968111,
        94.173807,
        104.797991,
        0.0
      ]
    ],
    "turn_angle": 309.9479100372743,
    "filename": "scan-0108_light-10_camera-108.png"
  },
  {
    "id": 109,
    "scan_id": "0109",
    "camera_id": 109,
    "light_id": 10,
    "position": [
      -169.101425,
      -136.381149,
      337.273407
    ],
    "rotation_matrix": [
      [
        0.7997215730887517,
        0.6003710544889492,
        -4.9681784364652426e-05
      ],
      [
        -6.317288774304597e-05,
        0.00016690095897653467,
        0.999999984076628
      ],
      [
        0.600371053220955,
        -0.7997215572159457,
        0.00017140147069216738
      ]
    ],
    "position_light": [
      157.608612,
      214.802094,
      161.133957
    ],
    "rotation_matrix_light": [
      [
        0.027666512757220707,
        -0.03998678442565001,
        -0.9988171109583336
      ],
      [
        -0.5683023126221745,
        0.8213818251041811,
        -0.04862487899021717
      ],
      [
        0.8223545740981463,
        0.568975354879121,
        1.886793727368108e-07
      ]
    ],
    "servo_angle": [
      [
        139.590854,
        4.789698,
        -74.16549,
        253.831419,
        52.210206,
        -190.024031,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -80.427232,
        -18.60394,
        -22.345698,
        -83.968111,
        94.173807,
        104.797991,
        0.0
      ]
    ],
    "turn_angle": 309.9479100372743,
    "filename": "scan-0109_light-10_camera-109.png"
  },
  {
    "id": 110,
    "scan_id": "0110",
    "camera_id": 110,
    "light_id": 11,
    "position": [
      -181.638977,
      -136.381149,
      326.68158
    ],
    "rotation_matrix": [
      [
        0.7803662676577883,
        0.6253227049195323,
        -5.489965171001643e-05
      ],
      [
        -6.321023794242375e-05,
        0.0001666768013997566,
        0.9999999841116542
      ],
      [
        0.6253227041346876,
        -0.7803662517888394,
        0.0001695957503822787
      ]
    ],
    "position_light": [
      350.789001,
      192.759735,
      409.430542
    ],
    "rotation_matrix_light": [
      [
        0.46291325663002625,
        0.3562603129633273,
        0.8116587375513524
      ],
      [
        0.6432235934142798,
        0.49502860030380624,
        -0.5841319146874919
      ],
      [
        -0.609897307512834,
        0.7924804567233985,
        2.6279647125093675e-07
      ]
    ],
    "servo_angle": [
      [
        140.723648,
        7.060387,
        -75.400329,
        253.746564,
        53.51569,
        -190.972047,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.924419,
        -36.433126,
        -45.341072,
        -253.904356,
        27.598403,
        124.631212,
        0.0
      ]
    ],
    "turn_angle": 326.58169909361425,
    "filename": "scan-0110_light-11_camera-110.png"
  },
  {
    "id": 111,
    "scan_id": "0111",
    "camera_id": 111,
    "light_id": 11,
    "position": [
      -220.350861,
      -136.381149,
      289.210205
    ],
    "rotation_matrix": [
      [
        0.7114393866010702,
        0.702747460928339,
        -7.315371150423688e-05
      ],
      [
        -6.260631109289427e-05,
        0.0001674773833273968,
        0.9999999840158876
      ],
      [
        0.7027474619471368,
        -0.7114393706494592,
        0.00016314643302267617
      ]
    ],
    "position_light": [
      350.789001,
      192.759735,
      409.430542
    ],
    "rotation_matrix_light": [
      [
        0.46291325663002625,
        0.3562603129633273,
        0.8116587375513524
      ],
      [
        0.6432235934142798,
        0.49502860030380624,
        -0.5841319146874919
      ],
      [
        -0.609897307512834,
        0.7924804567233985,
        2.6279647125093675e-07
      ]
    ],
    "servo_angle": [
      [
        143.924649,
        14.718083,
        -79.745011,
        253.498014,
        57.278247,
        -194.106069,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.924419,
        -36.433126,
        -45.341072,
        -253.904356,
        27.598403,
        124.631212,
        0.0
      ]
    ],
    "turn_angle": 326.58169909361425,
    "filename": "scan-0111_light-11_camera-111.png"
  },
  {
    "id": 112,
    "scan_id": "0112",
    "camera_id": 112,
    "light_id": 11,
    "position": [
      -228.987061,
      -136.381149,
      279.703796
    ],
    "rotation_matrix": [
      [
        0.6938576416158638,
        0.7201121908079734,
        -7.629555698424051e-05
      ],
      [
        -6.314206358859487e-05,
        0.0001667895095130989,
        0.9999999840971694
      ],
      [
        0.7201121920814497,
        -0.6938576257641045,
        0.0001611975454599568
      ]
    ],
    "position_light": [
      350.789001,
      192.759735,
      409.430542
    ],
    "rotation_matrix_light": [
      [
        0.46291325663002625,
        0.3562603129633273,
        0.8116587375513524
      ],
      [
        0.6432235934142798,
        0.49502860030380624,
        -0.5841319146874919
      ],
      [
        -0.609897307512834,
        0.7924804567233985,
        2.6279647125093675e-07
      ]
    ],
    "servo_angle": [
      [
        144.582634,
        16.580768,
        -80.842912,
        253.445016,
        58.06784,
        -194.863691,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.924419,
        -36.433126,
        -45.341072,
        -253.904356,
        27.598403,
        124.631212,
        0.0
      ]
    ],
    "turn_angle": 326.58169909361425,
    "filename": "scan-0112_light-11_camera-112.png"
  },
  {
    "id": 113,
    "scan_id": "0113",
    "camera_id": 113,
    "light_id": 11,
    "position": [
      -255.459656,
      -136.381149,
      247.28981
    ],
    "rotation_matrix": [
      [
        0.6336701925591266,
        0.7736033086128431,
        -8.92487618871507e-05
      ],
      [
        -6.273022855224353e-05,
        0.00016675088516365788,
        0.9999999841295302
      ],
      [
        0.7736033112177052,
        -0.6336701769038877,
        0.00015419337786909404
      ]
    ],
    "position_light": [
      350.789001,
      192.759735,
      409.430542
    ],
    "rotation_matrix_light": [
      [
        0.46291325663002625,
        0.3562603129633273,
        0.8116587375513524
      ],
      [
        0.6432235934142798,
        0.49502860030380624,
        -0.5841319146874919
      ],
      [
        -0.609897307512834,
        0.7924804567233985,
        2.6279647125093675e-07
      ]
    ],
    "servo_angle": [
      [
        146.485598,
        22.733533,
        -84.58192,
        253.285275,
        60.391299,
        -197.378575,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.924419,
        -36.433126,
        -45.341072,
        -253.904356,
        27.598403,
        124.631212,
        0.0
      ]
    ],
    "turn_angle": 326.58169909361425,
    "filename": "scan-0113_light-11_camera-113.png"
  },
  {
    "id": 114,
    "scan_id": "0114",
    "camera_id": 114,
    "light_id": 11,
    "position": [
      -272.004578,
      -136.381149,
      223.970016
    ],
    "rotation_matrix": [
      [
        0.5901691252570513,
        0.8072796258079757,
        -9.668847621224774e-05
      ],
      [
        -6.315171818088716e-05,
        0.00016593837461398309,
        0.9999999842381581
      ],
      [
        0.8072796291280905,
        -0.5901691098488554,
        0.0001489128008147489
      ]
    ],
    "position_light": [
      350.789001,
      192.759735,
      409.430542
    ],
    "rotation_matrix_light": [
      [
        0.46291325663002625,
        0.3562603129633273,
        0.8116587375513524
      ],
      [
        0.6432235934142798,
        0.49502860030380624,
        -0.5841319146874919
      ],
      [
        -0.609897307512834,
        0.7924804567233985,
        2.6279647125093675e-07
      ]
    ],
    "servo_angle": [
      [
        147.594558,
        26.99949,
        -87.274937,
        253.184721,
        61.77906,
        -199.145405,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.924419,
        -36.433126,
        -45.341072,
        -253.904356,
        27.598403,
        124.631212,
        0.0
      ]
    ],
    "turn_angle": 326.58169909361425,
    "filename": "scan-0114_light-11_camera-114.png"
  },
  {
    "id": 115,
    "scan_id": "0115",
    "camera_id": 115,
    "light_id": 11,
    "position": [
      -284.240234,
      -136.381149,
      204.781906
    ],
    "rotation_matrix": [
      [
        0.5542647245280619,
        0.8323404376930842,
        -0.0001045213713974924
      ],
      [
        -6.262782132226974e-05,
        0.00016727982392511498,
        0.9999999840476083
      ],
      [
        0.8323404418995799,
        -0.554264709140268,
        0.00014484497373806748
      ]
    ],
    "position_light": [
      350.789001,
      192.759735,
      409.430542
    ],
    "rotation_matrix_light": [
      [
        0.46291325663002625,
        0.3562603129633273,
        0.8116587375513524
      ],
      [
        0.6432235934142798,
        0.49502860030380624,
        -0.5841319146874919
      ],
      [
        -0.609897307512834,
        0.7924804567233985,
        2.6279647125093675e-07
      ]
    ],
    "servo_angle": [
      [
        148.378594,
        30.427038,
        -89.498471,
        253.107658,
        62.779616,
        -200.584846,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.924419,
        -36.433126,
        -45.341072,
        -253.904356,
        27.598403,
        124.631212,
        0.0
      ]
    ],
    "turn_angle": 326.58169909361425,
    "filename": "scan-0115_light-11_camera-115.png"
  },
  {
    "id": 116,
    "scan_id": "0116",
    "camera_id": 116,
    "light_id": 11,
    "position": [
      -306.787933,
      -136.381149,
      163.562164
    ],
    "rotation_matrix": [
      [
        0.47683487185836015,
        0.8789928847756534,
        -0.00011616194175256833
      ],
      [
        -6.294184645821987e-05,
        0.00016629805512469176,
        0.9999999841916405
      ],
      [
        0.8789928901977226,
        -0.4768348570089358,
        0.00013462214699710984
      ]
    ],
    "position_light": [
      350.789001,
      192.759735,
      409.430542
    ],
    "rotation_matrix_light": [
      [
        0.46291325663002625,
        0.3562603129633273,
        0.8116587375513524
      ],
      [
        0.6432235934142798,
        0.49502860030380624,
        -0.5841319146874919
      ],
      [
        -0.609897307512834,
        0.7924804567233985,
        2.6279647125093675e-07
      ]
    ],
    "servo_angle": [
      [
        149.750885,
        37.590959,
        -94.319739,
        252.95147,
        64.582657,
        -203.663349,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.924419,
        -36.433126,
        -45.341072,
        -253.904356,
        27.598403,
        124.631212,
        0.0
      ]
    ],
    "turn_angle": 326.58169909361425,
    "filename": "scan-0116_light-11_camera-116.png"
  },
  {
    "id": 117,
    "scan_id": "0117",
    "camera_id": 117,
    "light_id": 11,
    "position": [
      -324.162628,
      -136.381149,
      123.992538
    ],
    "rotation_matrix": [
      [
        0.4021613832212919,
        0.9155687879293695,
        -0.00012812135972672944
      ],
      [
        -6.273618236696255e-05,
        0.00016749307051300288,
        0.9999999840051215
      ],
      [
        0.9155687947443977,
        -0.4021613687509243,
        0.00012479853536651042
      ]
    ],
    "position_light": [
      350.789001,
      192.759735,
      409.430542
    ],
    "rotation_matrix_light": [
      [
        0.46291325663002625,
        0.3562603129633273,
        0.8116587375513524
      ],
      [
        0.6432235934142798,
        0.49502860030380624,
        -0.5841319146874919
      ],
      [
        -0.609897307512834,
        0.7924804567233985,
        2.6279647125093675e-07
      ]
    ],
    "servo_angle": [
      [
        150.752415,
        44.283507,
        -99.042172,
        252.805079,
        65.959532,
        -206.637458,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.924419,
        -36.433126,
        -45.341072,
        -253.904356,
        27.598403,
        124.631212,
        0.0
      ]
    ],
    "turn_angle": 326.58169909361425,
    "filename": "scan-0117_light-11_camera-117.png"
  },
  {
    "id": 118,
    "scan_id": "0118",
    "camera_id": 118,
    "light_id": 11,
    "position": [
      -330.808777,
      -136.381149,
      105.99234
    ],
    "rotation_matrix": [
      [
        0.36809220535147613,
        0.9297892831563448,
        -0.0001314804064583286
      ],
      [
        -6.294647692789423e-05,
        0.00016632855926845824,
        0.9999999841862757
      ],
      [
        0.9297892903218599,
        -0.3680921912543392,
        0.0001197512058540573
      ]
    ],
    "position_light": [
      350.789001,
      192.759735,
      409.430542
    ],
    "rotation_matrix_light": [
      [
        0.46291325663002625,
        0.3562603129633273,
        0.8116587375513524
      ],
      [
        0.6432235934142798,
        0.49502860030380624,
        -0.5841319146874919
      ],
      [
        -0.609897307512834,
        0.7924804567233985,
        2.6279647125093675e-07
      ]
    ],
    "servo_angle": [
      [
        151.124952,
        47.289186,
        -101.234538,
        252.737757,
        66.491695,
        -208.006827,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.924419,
        -36.433126,
        -45.341072,
        -253.904356,
        27.598403,
        124.631212,
        0.0
      ]
    ],
    "turn_angle": 326.58169909361425,
    "filename": "scan-0118_light-11_camera-118.png"
  },
  {
    "id": 119,
    "scan_id": "0119",
    "camera_id": 119,
    "light_id": 11,
    "position": [
      -345.875854,
      -136.381149,
      54.252865
    ],
    "rotation_matrix": [
      [
        0.2698394692702024,
        0.9629053121385802,
        -0.00014380291662186018
      ],
      [
        -6.287299013213454e-05,
        0.00016696192927317943,
        0.9999999840853504
      ],
      [
        0.962905320823892,
        -0.2698394559344825,
        0.00010559365457168957
      ]
    ],
    "position_light": [
      350.789001,
      192.759735,
      409.430542
    ],
    "rotation_matrix_light": [
      [
        0.46291325663002625,
        0.3562603129633273,
        0.8116587375513524
      ],
      [
        0.6432235934142798,
        0.49502860030380624,
        -0.5841319146874919
      ],
      [
        -0.609897307512834,
        0.7924804567233985,
        2.6279647125093675e-07
      ]
    ],
    "servo_angle": [
      [
        151.955627,
        55.873183,
        -107.756745,
        252.538196,
        67.74355,
        -212.039304,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -61.924419,
        -36.433126,
        -45.341072,
        -253.904356,
        27.598403,
        124.631212,
        0.0
      ]
    ],
    "turn_angle": 326.58169909361425,
    "filename": "scan-0119_light-11_camera-119.png"
  },
  {
    "id": 120,
    "scan_id": "0120",
    "camera_id": 120,
    "light_id": 12,
    "position": [
      -339.869843,
      -136.381149,
      77.343895
    ],
    "rotation_matrix": [
      [
        0.313746614310753,
        0.949506736473816,
        -0.0001392816653483786
      ],
      [
        -6.274846998977068e-05,
        0.00016742249109785723,
        0.9999999840161691
      ],
      [
        0.9495067446159445,
        -0.3137466005561689,
        0.00011210833470015613
      ]
    ],
    "position_light": [
      -104.073685,
      215.17424,
      107.686646
    ],
    "rotation_matrix_light": [
      [
        0.251330527052545,
        -0.5983633122348673,
        -0.7607853263193295
      ],
      [
        -0.2946184818705166,
        0.7014230270550984,
        -0.6490036111279928
      ],
      [
        0.9219722969329404,
        0.3872558375133698,
        1.2841889890369274e-07
      ]
    ],
    "servo_angle": [
      [
        151.625947,
        52.045882,
        -104.799367,
        252.628436,
        67.232816,
        -210.218673,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -136.470812,
        4.686795,
        -39.611953,
        -176.035954,
        55.285901,
        155.43073,
        0.0
      ]
    ],
    "turn_angle": 338.8613250943369,
    "filename": "scan-0120_light-12_camera-120.png"
  },
  {
    "id": 121,
    "scan_id": "0121",
    "camera_id": 121,
    "light_id": 12,
    "position": [
      -330.750916,
      -136.381149,
      106.158417
    ],
    "rotation_matrix": [
      [
        0.3684064535252436,
        0.929664814717919,
        -0.00013143991321795667
      ],
      [
        -6.300021567923197e-05,
        0.00016634984428787192,
        0.9999999841793512
      ],
      [
        0.9296648218750272,
        -0.3684064394160715,
        0.00011985344001519405
      ]
    ],
    "position_light": [
      -104.073685,
      215.17424,
      107.686646
    ],
    "rotation_matrix_light": [
      [
        0.251330527052545,
        -0.5983633122348673,
        -0.7607853263193295
      ],
      [
        -0.2946184818705166,
        0.7014230270550984,
        -0.6490036111279928
      ],
      [
        0.9219722969329404,
        0.3872558375133698,
        1.2841889890369274e-07
      ]
    ],
    "servo_angle": [
      [
        151.121744,
        47.261512,
        -101.21414,
        252.738387,
        66.486997,
        -207.994165,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -136.470812,
        4.686795,
        -39.611953,
        -176.035954,
        55.285901,
        155.43073,
        0.0
      ]
    ],
    "turn_angle": 338.8613250943369,
    "filename": "scan-0121_light-12_camera-121.png"
  },
  {
    "id": 122,
    "scan_id": "0122",
    "camera_id": 122,
    "light_id": 12,
    "position": [
      -327.018433,
      -136.381149,
      116.506744
    ],
    "rotation_matrix": [
      [
        0.3880006597074549,
        0.9216590862600572,
        -0.00012954094482731104
      ],
      [
        -6.285667435745879e-05,
        0.00016701335252616856,
        0.9999999840777892
      ],
      [
        0.9216590932202744,
        -0.38800064538711354,
        0.00012273371601373428
      ]
    ],
    "position_light": [
      -104.073685,
      215.17424,
      107.686646
    ],
    "rotation_matrix_light": [
      [
        0.251330527052545,
        -0.5983633122348673,
        -0.7607853263193295
      ],
      [
        -0.2946184818705166,
        0.7014230270550984,
        -0.6490036111279928
      ],
      [
        0.9219722969329404,
        0.3872558375133698,
        1.2841889890369274e-07
      ]
    ],
    "servo_angle": [
      [
        150.91313,
        45.535706,
        -99.949966,
        252.777176,
        66.187454,
        -207.205374,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -136.470812,
        4.686795,
        -39.611953,
        -176.035954,
        55.285901,
        155.43073,
        0.0
      ]
    ],
    "turn_angle": 338.8613250943369,
    "filename": "scan-0122_light-12_camera-122.png"
  },
  {
    "id": 123,
    "scan_id": "0123",
    "camera_id": 123,
    "light_id": 12,
    "position": [
      -309.377716,
      -136.381149,
      158.195435
    ],
    "rotation_matrix": [
      [
        0.4667252222151963,
        0.8844023705145396,
        -0.00011822198857869282
      ],
      [
        -6.300847368584384e-05,
        0.00016692586485667071,
        0.9999999840828437
      ],
      [
        0.8844023761716767,
        -0.4667252073372709,
        0.0001336333548589419
      ]
    ],
    "position_light": [
      -104.073685,
      215.17424,
      107.686646
    ],
    "rotation_matrix_light": [
      [
        0.251330527052545,
        -0.5983633122348673,
        -0.7607853263193295
      ],
      [
        -0.2946184818705166,
        0.7014230270550984,
        -0.6490036111279928
      ],
      [
        0.9219722969329404,
        0.3872558375133698,
        1.2841889890369274e-07
      ]
    ],
    "servo_angle": [
      [
        149.903005,
        38.507462,
        -94.953774,
        252.931588,
        64.787718,
        -204.064763,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -136.470812,
        4.686795,
        -39.611953,
        -176.035954,
        55.285901,
        155.43073,
        0.0
      ]
    ],
    "turn_angle": 338.8613250943369,
    "filename": "scan-0123_light-12_camera-123.png"
  },
  {
    "id": 124,
    "scan_id": "0124",
    "camera_id": 124,
    "light_id": 12,
    "position": [
      -300.106537,
      -136.381149,
      176.730484
    ],
    "rotation_matrix": [
      [
        0.501613015379574,
        0.8650921164776246,
        -0.00011318160403028799
      ],
      [
        -6.270186853879478e-05,
        0.0001671887569182351,
        0.9999999840581976
      ],
      [
        0.8650921216091886,
        -0.5016130002862603,
        0.00013810694865667994
      ]
    ],
    "position_light": [
      -104.073685,
      215.17424,
      107.686646
    ],
    "rotation_matrix_light": [
      [
        0.251330527052545,
        -0.5983633122348673,
        -0.7607853263193295
      ],
      [
        -0.2946184818705166,
        0.7014230270550984,
        -0.6490036111279928
      ],
      [
        0.9219722969329404,
        0.3872558375133698,
        1.2841889890369274e-07
      ]
    ],
    "servo_angle": [
      [
        149.353424,
        35.327833,
        -92.770977,
        253.000515,
        64.05227,
        -202.679752,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -136.470812,
        4.686795,
        -39.611953,
        -176.035954,
        55.285901,
        155.43073,
        0.0
      ]
    ],
    "turn_angle": 338.8613250943369,
    "filename": "scan-0124_light-12_camera-124.png"
  },
  {
    "id": 125,
    "scan_id": "0125",
    "camera_id": 125,
    "light_id": 12,
    "position": [
      -269.176544,
      -136.381149,
      228.153763
    ],
    "rotation_matrix": [
      [
        0.5979846777389338,
        0.8015075270316809,
        -9.644180601559027e-05
      ],
      [
        -6.278779807294965e-05,
        0.00016716991563481276,
        0.9999999840559555
      ],
      [
        0.801507530374578,
        -0.597984662149271,
        0.00015028994088972514
      ]
    ],
    "position_light": [
      -104.073685,
      215.17424,
      107.686646
    ],
    "rotation_matrix_light": [
      [
        0.251330527052545,
        -0.5983633122348673,
        -0.7607853263193295
      ],
      [
        -0.2946184818705166,
        0.7014230270550984,
        -0.6490036111279928
      ],
      [
        0.9219722969329404,
        0.3872558375133698,
        1.2841889890369274e-07
      ]
    ],
    "servo_angle": [
      [
        147.409092,
        26.242728,
        -86.791246,
        253.202082,
        61.544892,
        -198.830163,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -136.470812,
        4.686795,
        -39.611953,
        -176.035954,
        55.285901,
        155.43073,
        0.0
      ]
    ],
    "turn_angle": 338.8613250943369,
    "filename": "scan-0125_light-12_camera-125.png"
  },
  {
    "id": 126,
    "scan_id": "0126",
    "camera_id": 126,
    "light_id": 12,
    "position": [
      -247.5448,
      -136.381149,
      257.550568
    ],
    "rotation_matrix": [
      [
        0.6527602518912158,
        0.7575645492455738,
        -8.530689677410663e-05
      ],
      [
        -6.266048611153208e-05,
        0.00016659856938422424,
        0.9999999841592897
      ],
      [
        0.7575645514572203,
        -0.6527602362056582,
        0.00015621828703266116
      ]
    ],
    "position_light": [
      -104.073685,
      215.17424,
      107.686646
    ],
    "rotation_matrix_light": [
      [
        0.251330527052545,
        -0.5983633122348673,
        -0.7607853263193295
      ],
      [
        -0.2946184818705166,
        0.7014230270550984,
        -0.6490036111279928
      ],
      [
        0.9219722969329404,
        0.3872558375133698,
        1.2841889890369274e-07
      ]
    ],
    "servo_angle": [
      [
        145.933897,
        20.816416,
        -83.398476,
        253.332888,
        59.710911,
        -196.591674,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -136.470812,
        4.686795,
        -39.611953,
        -176.035954,
        55.285901,
        155.43073,
        0.0
      ]
    ],
    "turn_angle": 338.8613250943369,
    "filename": "scan-0126_light-12_camera-126.png"
  },
  {
    "id": 127,
    "scan_id": "0127",
    "camera_id": 127,
    "light_id": 12,
    "position": [
      -234.246674,
      -136.381149,
      273.675659
    ],
    "rotation_matrix": [
      [
        0.6826911902879116,
        0.730707008606104,
        -7.92287386331969e-05
      ],
      [
        -6.280506705269584e-05,
        0.0001671055592938342,
        0.9999999840656275
      ],
      [
        0.7307070102023092,
        -0.6826911744336897,
        0.00015997359584934978
      ]
    ],
    "position_light": [
      -104.073685,
      215.17424,
      107.686646
    ],
    "rotation_matrix_light": [
      [
        0.251330527052545,
        -0.5983633122348673,
        -0.7607853263193295
      ],
      [
        -0.2946184818705166,
        0.7014230270550984,
        -0.6490036111279928
      ],
      [
        0.9219722969329404,
        0.3872558375133698,
        1.2841889890369274e-07
      ]
    ],
    "servo_angle": [
      [
        144.974136,
        17.74731,
        -81.538598,
        253.413045,
        58.540702,
        -195.338616,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -136.470812,
        4.686795,
        -39.611953,
        -176.035954,
        55.285901,
        155.43073,
        0.0
      ]
    ],
    "turn_angle": 338.8613250943369,
    "filename": "scan-0127_light-12_camera-127.png"
  },
  {
    "id": 128,
    "scan_id": "0128",
    "camera_id": 128,
    "light_id": 12,
    "position": [
      -220.120895,
      -136.381149,
      289.45697
    ],
    "rotation_matrix": [
      [
        0.7118953203198134,
        0.7022855883262664,
        -7.304779542688378e-05
      ],
      [
        -6.26464330326093e-05,
        0.00016751802788605996,
        0.9999999840065674
      ],
      [
        0.7022855893311317,
        -0.7118953043579797,
        0.00016325098720015863
      ]
    ],
    "position_light": [
      -104.073685,
      215.17424,
      107.686646
    ],
    "rotation_matrix_light": [
      [
        0.251330527052545,
        -0.5983633122348673,
        -0.7607853263193295
      ],
      [
        -0.2946184818705166,
        0.7014230270550984,
        -0.6490036111279928
      ],
      [
        0.9219722969329404,
        0.3872558375133698,
        1.2841889890369274e-07
      ]
    ],
    "servo_angle": [
      [
        143.90683,
        14.669324,
        -79.716477,
        253.49939,
        57.25699,
        -194.086245,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -136.470812,
        4.686795,
        -39.611953,
        -176.035954,
        55.285901,
        155.43073,
        0.0
      ]
    ],
    "turn_angle": 338.8613250943369,
    "filename": "scan-0128_light-12_camera-128.png"
  },
  {
    "id": 129,
    "scan_id": "0129",
    "camera_id": 129,
    "light_id": 12,
    "position": [
      -183.375137,
      -136.381149,
      325.160431
    ],
    "rotation_matrix": [
      [
        0.7775815184358197,
        0.6287821396079541,
        -5.5651485122210076e-05
      ],
      [
        -6.298467122045626e-05,
        0.00016639658466194307,
        0.9999999841725535
      ],
      [
        0.6287821389161558,
        -0.7775815026234996,
        0.00016899054529645463
      ]
    ],
    "position_light": [
      -104.073685,
      215.17424,
      107.686646
    ],
    "rotation_matrix_light": [
      [
        0.251330527052545,
        -0.5983633122348673,
        -0.7607853263193295
      ],
      [
        -0.2946184818705166,
        0.7014230270550984,
        -0.6490036111279928
      ],
      [
        0.9219722969329404,
        0.3872558375133698,
        1.2841889890369274e-07
      ]
    ],
    "servo_angle": [
      [
        140.876628,
        7.382275,
        -75.577373,
        253.73499,
        53.692906,
        -191.105374,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -136.470812,
        4.686795,
        -39.611953,
        -176.035954,
        55.285901,
        155.43073,
        0.0
      ]
    ],
    "turn_angle": 338.8613250943369,
    "filename": "scan-0129_light-12_camera-129.png"
  },
  {
    "id": 130,
    "scan_id": "0130",
    "camera_id": 130,
    "light_id": 13,
    "position": [
      -155.829254,
      -136.381149,
      347.775391
    ],
    "rotation_matrix": [
      [
        0.8188451939161933,
        0.5740144130924921,
        -4.4299362790822805e-05
      ],
      [
        -6.305429533204343e-05,
        0.00016712310106592465,
        0.9999999840470123
      ],
      [
        0.5740144113386941,
        -0.818845178059901,
        0.00017304202242818256
      ]
    ],
    "position_light": [
      582.300476,
      199.792038,
      169.823837
    ],
    "rotation_matrix_light": [
      [
        0.33723370326105184,
        0.7544295101385271,
        0.5631248028785261
      ],
      [
        0.22980518525660965,
        0.5141003019316098,
        -0.826371863257095
      ],
      [
        -0.9129419511743406,
        0.4080894433650172,
        1.3532758419421143e-07
      ]
    ],
    "servo_angle": [
      [
        138.335732,
        2.484402,
        -72.937757,
        253.923321,
        50.777067,
        -189.044388,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -38.254157,
        5.408951,
        -52.26584,
        -155.236727,
        45.758128,
        6.728473,
        0.0
      ]
    ],
    "turn_angle": 372.21010365463394,
    "filename": "scan-0130_light-13_camera-130.png"
  },
  {
    "id": 131,
    "scan_id": "0131",
    "camera_id": 131,
    "light_id": 13,
    "position": [
      -127.772919,
      -136.381149,
      367.802948
    ],
    "rotation_matrix": [
      [
        0.8550935900024881,
        0.5184736746292604,
        -3.245133104651243e-05
      ],
      [
        -6.327860200250335e-05,
        0.00016695246397580021,
        0.9999999840613467
      ],
      [
        0.5184736717833178,
        -0.8550935743199728,
        0.0001755682710864459
      ]
    ],
    "position_light": [
      582.300476,
      199.792038,
      169.823837
    ],
    "rotation_matrix_light": [
      [
        0.33723370326105184,
        0.7544295101385271,
        0.5631248028785261
      ],
      [
        0.22980518525660965,
        0.5141003019316098,
        -0.826371863257095
      ],
      [
        -0.9129419511743406,
        0.4080894433650172,
        1.3532758419421143e-07
      ]
    ],
    "servo_angle": [
      [
        135.479251,
        -2.078118,
        -70.587598,
        254.121507,
        47.560768,
        -187.025456,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -38.254157,
        5.408951,
        -52.26584,
        -155.236727,
        45.758128,
        6.728473,
        0.0
      ]
    ],
    "turn_angle": 372.21010365463394,
    "filename": "scan-0131_light-13_camera-131.png"
  },
  {
    "id": 132,
    "scan_id": "0132",
    "camera_id": 132,
    "light_id": 13,
    "position": [
      -115.093681,
      -136.381149,
      375.970673
    ],
    "rotation_matrix": [
      [
        0.8697775420579872,
        0.4934440460240741,
        -2.7838060538770693e-05
      ],
      [
        -6.261948781705051e-05,
        0.00016679314495443576,
        0.9999999841294231
      ],
      [
        0.49344404283603016,
        -0.8697775265109109,
        0.00017597214507897307
      ]
    ],
    "position_light": [
      582.300476,
      199.792038,
      169.823837
    ],
    "rotation_matrix_light": [
      [
        0.33723370326105184,
        0.7544295101385271,
        0.5631248028785261
      ],
      [
        0.22980518525660965,
        0.5141003019316098,
        -0.826371863257095
      ],
      [
        -0.9129419511743406,
        0.4080894433650172,
        1.3532758419421143e-07
      ]
    ],
    "servo_angle": [
      [
        134.091662,
        -4.008355,
        -69.626805,
        254.210659,
        46.018309,
        -186.124022,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -38.254157,
        5.408951,
        -52.26584,
        -155.236727,
        45.758128,
        6.728473,
        0.0
      ]
    ],
    "turn_angle": 372.21010365463394,
    "filename": "scan-0132_light-13_camera-132.png"
  },
  {
    "id": 133,
    "scan_id": "0133",
    "camera_id": 133,
    "light_id": 13,
    "position": [
      -58.347523,
      -136.381149,
      406.652435
    ],
    "rotation_matrix": [
      [
        0.924205654518904,
        0.3818951533094539,
        -5.833808335353741e-06
      ],
      [
        -6.284416175428298e-05,
        0.0001673620032489609,
        0.9999999840202857
      ],
      [
        0.3818951481832362,
        -0.9242056393837407,
        0.00017867679054206498
      ]
    ],
    "position_light": [
      582.300476,
      199.792038,
      169.823837
    ],
    "rotation_matrix_light": [
      [
        0.33723370326105184,
        0.7544295101385271,
        0.5631248028785261
      ],
      [
        0.22980518525660965,
        0.5141003019316098,
        -0.826371863257095
      ],
      [
        -0.9129419511743406,
        0.4080894433650172,
        1.3532758419421143e-07
      ]
    ],
    "servo_angle": [
      [
        127.063647,
        -11.679401,
        -66.033787,
        254.546986,
        38.364051,
        -182.001476,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -38.254157,
        5.408951,
        -52.26584,
        -155.236727,
        45.758128,
        6.728473,
        0.0
      ]
    ],
    "turn_angle": 372.21010365463394,
    "filename": "scan-0133_light-13_camera-133.png"
  },
  {
    "id": 134,
    "scan_id": "0134",
    "camera_id": 134,
    "light_id": 13,
    "position": [
      -30.637243,
      -136.381149,
      418.517426
    ],
    "rotation_matrix": [
      [
        0.9447907184685651,
        0.32767437841188246,
        5.295215161044142e-06
      ],
      [
        -6.330399209936166e-05,
        0.00016636579693701803,
        0.9999999841575132
      ],
      [
        0.3276743723397627,
        -0.9447907038359388,
        0.00017792395707888486
      ]
    ],
    "position_light": [
      582.300476,
      199.792038,
      169.823837
    ],
    "rotation_matrix_light": [
      [
        0.33723370326105184,
        0.7544295101385271,
        0.5631248028785261
      ],
      [
        0.22980518525660965,
        0.5141003019316098,
        -0.826371863257095
      ],
      [
        -0.9129419511743406,
        0.4080894433650172,
        1.3532758419421143e-07
      ]
    ],
    "servo_angle": [
      [
        123.107775,
        -14.842185,
        -64.684013,
        254.607605,
        34.147654,
        -179.817132,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -38.254157,
        5.408951,
        -52.26584,
        -155.236727,
        45.758128,
        6.728473,
        0.0
      ]
    ],
    "turn_angle": 372.21010365463394,
    "filename": "scan-0134_light-13_camera-134.png"
  },
  {
    "id": 135,
    "scan_id": "0135",
    "camera_id": 135,
    "light_id": 13,
    "position": [
      0.160496,
      -136.381149,
      429.553314
    ],
    "rotation_matrix": [
      [
        0.9635344607053469,
        0.2675842723098437,
        1.5673798950011086e-05
      ],
      [
        -6.262594500353047e-05,
        0.00016693229784653374,
        0.9999999841057995
      ],
      [
        0.2675842654403423,
        -0.9635344463723233,
        0.00017760273950134797
      ]
    ],
    "position_light": [
      582.300476,
      199.792038,
      169.823837
    ],
    "rotation_matrix_light": [
      [
        0.33723370326105184,
        0.7544295101385271,
        0.5631248028785261
      ],
      [
        0.22980518525660965,
        0.5141003019316098,
        -0.826371863257095
      ],
      [
        -0.9129419511743406,
        0.4080894433650172,
        1.3532758419421143e-07
      ]
    ],
    "servo_angle": [
      [
        118.29172,
        -17.879836,
        -63.502517,
        254.484992,
        29.081848,
        -177.111625,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -38.254157,
        5.408951,
        -52.26584,
        -155.236727,
        45.758128,
        6.728473,
        0.0
      ]
    ],
    "turn_angle": 372.21010365463394,
    "filename": "scan-0135_light-13_camera-135.png"
  },
  {
    "id": 136,
    "scan_id": "0136",
    "camera_id": 136,
    "light_id": 13,
    "position": [
      39.155083,
      -136.381149,
      440.497925
    ],
    "rotation_matrix": [
      [
        0.9814449378279342,
        0.19174418670421303,
        2.9615244462613544e-05
      ],
      [
        -6.281367707208774e-05,
        0.00016706071745081763,
        0.9999999840725794
      ],
      [
        0.19174417870267868,
        -0.98144492405629,
        0.00017600505287601598
      ]
    ],
    "position_light": [
      582.300476,
      199.792038,
      169.823837
    ],
    "rotation_matrix_light": [
      [
        0.33723370326105184,
        0.7544295101385271,
        0.5631248028785261
      ],
      [
        0.22980518525660965,
        0.5141003019316098,
        -0.826371863257095
      ],
      [
        -0.9129419511743406,
        0.4080894433650172,
        1.3532758419421143e-07
      ]
    ],
    "servo_angle": [
      [
        111.594245,
        -20.942868,
        -62.539031,
        253.757106,
        22.131182,
        -172.955332,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -38.254157,
        5.408951,
        -52.26584,
        -155.236727,
        45.758128,
        6.728473,
        0.0
      ]
    ],
    "turn_angle": 372.21010365463394,
    "filename": "scan-0136_light-13_camera-136.png"
  },
  {
    "id": 137,
    "scan_id": "0137",
    "camera_id": 137,
    "light_id": 13,
    "position": [
      50.322521,
      -136.381149,
      443.037872
    ],
    "rotation_matrix": [
      [
        0.9854314210596189,
        0.17007325845963583,
        3.3842906887154856e-05
      ],
      [
        -6.306881687741239e-05,
        0.00016644055476655595,
        0.9999999841599331
      ],
      [
        0.17007325013283184,
        -0.9854314075847511,
        0.00017474207159906552
      ]
    ],
    "position_light": [
      582.300476,
      199.792038,
      169.823837
    ],
    "rotation_matrix_light": [
      [
        0.33723370326105184,
        0.7544295101385271,
        0.5631248028785261
      ],
      [
        0.22980518525660965,
        0.5141003019316098,
        -0.826371863257095
      ],
      [
        -0.9129419511743406,
        0.4080894433650172,
        1.3532758419421143e-07
      ]
    ],
    "servo_angle": [
      [
        109.569469,
        -21.646002,
        -62.389603,
        253.34853,
        20.046361,
        -171.5305,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -38.254157,
        5.408951,
        -52.26584,
        -155.236727,
        45.758128,
        6.728473,
        0.0
      ]
    ],
    "turn_angle": 372.21010365463394,
    "filename": "scan-0137_light-13_camera-137.png"
  },
  {
    "id": 138,
    "scan_id": "0138",
    "camera_id": 138,
    "light_id": 13,
    "position": [
      101.716263,
      -136.381149,
      451.463623
    ],
    "rotation_matrix": [
      [
        0.9975046899287011,
        0.07060021939279357,
        5.091104990698203e-05
      ],
      [
        -6.284916561063308e-05,
        0.0001668732541975082,
        0.9999999841016495
      ],
      [
        0.07060020977467397,
        -0.997504677269739,
        0.0001708940185665142
      ]
    ],
    "position_light": [
      582.300476,
      199.792038,
      169.823837
    ],
    "rotation_matrix_light": [
      [
        0.33723370326105184,
        0.7544295101385271,
        0.5631248028785261
      ],
      [
        0.22980518525660965,
        0.5141003019316098,
        -0.826371863257095
      ],
      [
        -0.9129419511743406,
        0.4080894433650172,
        1.3532758419421143e-07
      ]
    ],
    "servo_angle": [
      [
        99.929913,
        -23.773337,
        -62.69161,
        249.087557,
        10.170115,
        -162.396121,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -38.254157,
        5.408951,
        -52.26584,
        -155.236727,
        45.758128,
        6.728473,
        0.0
      ]
    ],
    "turn_angle": 372.21010365463394,
    "filename": "scan-0138_light-13_camera-138.png"
  },
  {
    "id": 139,
    "scan_id": "0139",
    "camera_id": 139,
    "light_id": 13,
    "position": [
      138.807861,
      -136.381149,
      454.309692
    ],
    "rotation_matrix": [
      [
        0.999999563697705,
        -0.0009319951282137572,
        6.316233265834804e-05
      ],
      [
        -6.300635859053883e-05,
        0.0001673834365849003,
        0.9999999840064916
      ],
      [
        -0.0009320056856361885,
        -0.9999995516838324,
        0.00016732464193586205
      ]
    ],
    "position_light": [
      582.300476,
      199.792038,
      169.823837
    ],
    "rotation_matrix_light": [
      [
        0.33723370326105184,
        0.7544295101385271,
        0.5631248028785261
      ],
      [
        0.22980518525660965,
        0.5141003019316098,
        -0.826371863257095
      ],
      [
        -0.9129419511743406,
        0.4080894433650172,
        1.3532758419421143e-07
      ]
    ],
    "servo_angle": [
      [
        93.367713,
        -24.054487,
        -64.495395,
        240.680662,
        3.311753,
        -150.254916,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -38.254157,
        5.408951,
        -52.26584,
        -155.236727,
        45.758128,
        6.728473,
        0.0
      ]
    ],
    "turn_angle": 372.21010365463394,
    "filename": "scan-0139_light-13_camera-139.png"
  },
  {
    "id": 140,
    "scan_id": "0140",
    "camera_id": 140,
    "light_id": 14,
    "position": [
      131.652878,
      -136.381149,
      453.968292
    ],
    "rotation_matrix": [
      [
        0.999917437849003,
        0.012849660773470972,
        6.085632098549315e-05
      ],
      [
        -6.30011841376097e-05,
        0.00016651510425241822,
        0.9999999841517853
      ],
      [
        0.012849650436330155,
        -0.999917425836117,
        0.00016731090025173811
      ]
    ],
    "position_light": [
      446.259857,
      199.011124,
      304.580475
    ],
    "rotation_matrix_light": [
      [
        0.4670480637597311,
        0.5398522257824622,
        0.7003039914608565
      ],
      [
        0.4581885089148483,
        0.5296120946074047,
        -0.7138447447056995
      ],
      [
        -0.7562601380719957,
        0.6542710474744231,
        2.1696449553632036e-07
      ]
    ],
    "servo_angle": [
      [
        94.536317,
        -24.087948,
        -63.997953,
        242.916114,
        4.567906,
        -153.227822,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -50.543758,
        -22.315045,
        -47.100454,
        -194.920356,
        21.209408,
        55.069838,
        0.0
      ]
    ],
    "turn_angle": 394.94472575528397,
    "filename": "scan-0140_light-14_camera-140.png"
  },
  {
    "id": 141,
    "scan_id": "0141",
    "camera_id": 141,
    "light_id": 14,
    "position": [
      175.914581,
      -136.381149,
      454.49823
    ],
    "rotation_matrix": [
      [
        0.9973843836977944,
        -0.07227991124601602,
        7.473980704990335e-05
      ],
      [
        -6.284158554980407e-05,
        0.00016688716933099812,
        0.9999999840998036
      ],
      [
        -0.07227992256986607,
        -0.9973843725359549,
        0.00016190847230412864
      ]
    ],
    "position_light": [
      446.259857,
      199.011124,
      304.580475
    ],
    "rotation_matrix_light": [
      [
        0.4670480637597311,
        0.5398522257824622,
        0.7003039914608565
      ],
      [
        0.4581885089148483,
        0.5296120946074047,
        -0.7138447447056995
      ],
      [
        -0.7562601380719957,
        0.6542710474744231,
        2.1696449553632036e-07
      ]
    ],
    "servo_angle": [
      [
        89.222363,
        -23.291823,
        -68.345557,
        221.233443,
        -2.005467,
        -126.830281,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -50.543758,
        -22.315045,
        -47.100454,
        -194.920356,
        21.209408,
        55.069838,
        0.0
      ]
    ],
    "turn_angle": 394.94472575528397,
    "filename": "scan-0141_light-14_camera-141.png"
  },
  {
    "id": 142,
    "scan_id": "0142",
    "camera_id": 142,
    "light_id": 14,
    "position": [
      188.7052,
      -136.381149,
      453.948639
    ],
    "rotation_matrix": [
      [
        0.9953016068445764,
        -0.09682306146039128,
        7.862595897482894e-05
      ],
      [
        -6.271035730727459e-05,
        0.00016742125357394055,
        0.9999999840187672
      ],
      [
        -0.09682307307669602,
        -0.9953015958690918,
        0.0001605628339222953
      ]
    ],
    "position_light": [
      446.259857,
      199.011124,
      304.580475
    ],
    "rotation_matrix_light": [
      [
        0.4670480637597311,
        0.5398522257824622,
        0.7003039914608565
      ],
      [
        0.4581885089148483,
        0.5296120946074047,
        -0.7138447447056995
      ],
      [
        -0.7562601380719957,
        0.6542710474744231,
        2.1696449553632036e-07
      ]
    ],
    "servo_angle": [
      [
        88.960349,
        -22.932235,
        -69.82671,
        210.880898,
        -3.117807,
        -115.070896,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -50.543758,
        -22.315045,
        -47.100454,
        -194.920356,
        21.209408,
        55.069838,
        0.0
      ]
    ],
    "turn_angle": 394.94472575528397,
    "filename": "scan-0142_light-14_camera-142.png"
  },
  {
    "id": 143,
    "scan_id": "0143",
    "camera_id": 143,
    "light_id": 14,
    "position": [
      216.07666,
      -136.381149,
      451.707916
    ],
    "rotation_matrix": [
      [
        0.9887978094500973,
        -0.14926112813895345,
        8.748357916792127e-05
      ],
      [
        -6.328426985408031e-05,
        0.0001668768733081305,
        0.9999999840736052
      ],
      [
        -0.14926114036074795,
        -0.9887977992384472,
        0.00015556160526303264
      ]
    ],
    "position_light": [
      446.259857,
      199.011124,
      304.580475
    ],
    "rotation_matrix_light": [
      [
        0.4670480637597311,
        0.5398522257824622,
        0.7003039914608565
      ],
      [
        0.4581885089148483,
        0.5296120946074047,
        -0.7138447447056995
      ],
      [
        -0.7562601380719957,
        0.6542710474744231,
        2.1696449553632036e-07
      ]
    ],
    "servo_angle": [
      [
        90.228993,
        -22.578834,
        -71.262772,
        184.641952,
        -3.903676,
        -85.851538,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -50.543758,
        -22.315045,
        -47.100454,
        -194.920356,
        21.209408,
        55.069838,
        0.0
      ]
    ],
    "turn_angle": 394.94472575528397,
    "filename": "scan-0143_light-14_camera-143.png"
  },
  {
    "id": 144,
    "scan_id": "0144",
    "camera_id": 144,
    "light_id": 14,
    "position": [
      269.310699,
      -136.381149,
      443.116943
    ],
    "rotation_matrix": [
      [
        0.9680112222556829,
        -0.2509068812068661,
        0.00010271369154202237
      ],
      [
        -6.291691687224099e-05,
        0.000166633167291097,
        0.9999999841374244
      ],
      [
        -0.2509068943423445,
        -0.9680112133629605,
        0.00014551648855015697
      ]
    ],
    "position_light": [
      446.259857,
      199.011124,
      304.580475
    ],
    "rotation_matrix_light": [
      [
        0.4670480637597311,
        0.5398522257824622,
        0.7003039914608565
      ],
      [
        0.4581885089148483,
        0.5296120946074047,
        -0.7138447447056995
      ],
      [
        -0.7562601380719957,
        0.6542710474744231,
        2.1696449553632036e-07
      ]
    ],
    "servo_angle": [
      [
        90.10426,
        -23.911649,
        -65.575535,
        141.956711,
        0.414821,
        -37.138494,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -50.543758,
        -22.315045,
        -47.100454,
        -194.920356,
        21.209408,
        55.069838,
        0.0
      ]
    ],
    "turn_angle": 394.94472575528397,
    "filename": "scan-0144_light-14_camera-144.png"
  },
  {
    "id": 145,
    "scan_id": "0145",
    "camera_id": 145,
    "light_id": 14,
    "position": [
      302.757019,
      -136.381149,
      434.752014
    ],
    "rotation_matrix": [
      [
        0.9492470515845317,
        -0.3145314332568804,
        0.00011203323608724447
      ],
      [
        -6.265823390164127e-05,
        0.00016709010597315554,
        0.999999984077421
      ],
      [
        -0.314531446968374,
        -0.9492470434898752,
        0.00013890180632958327
      ]
    ],
    "position_light": [
      446.259857,
      199.011124,
      304.580475
    ],
    "rotation_matrix_light": [
      [
        0.4670480637597311,
        0.5398522257824622,
        0.7003039914608565
      ],
      [
        0.4581885089148483,
        0.5296120946074047,
        -0.7138447447056995
      ],
      [
        -0.7562601380719957,
        0.6542710474744231,
        2.1696449553632036e-07
      ]
    ],
    "servo_angle": [
      [
        85.612442,
        -24.498816,
        -61.580644,
        128.905936,
        5.980247,
        -20.34195,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -50.543758,
        -22.315045,
        -47.100454,
        -194.920356,
        21.209408,
        55.069838,
        0.0
      ]
    ],
    "turn_angle": 394.94472575528397,
    "filename": "scan-0145_light-14_camera-145.png"
  },
  {
    "id": 146,
    "scan_id": "0146",
    "camera_id": 146,
    "light_id": 14,
    "position": [
      321.686218,
      -136.381149,
      428.952637
    ],
    "rotation_matrix": [
      [
        0.9365795229009071,
        -0.350455109164083,
        0.00011723267350235989
      ],
      [
        -6.275381580206352e-05,
        0.00016680804830010443,
        0.9999999841185164
      ],
      [
        -0.35045512315368954,
        -0.9365795153834325,
        0.00013423660692551964
      ]
    ],
    "position_light": [
      446.259857,
      199.011124,
      304.580475
    ],
    "rotation_matrix_light": [
      [
        0.4670480637597311,
        0.5398522257824622,
        0.7003039914608565
      ],
      [
        0.4581885089148483,
        0.5296120946074047,
        -0.7138447447056995
      ],
      [
        -0.7562601380719957,
        0.6542710474744231,
        2.1696449553632036e-07
      ]
    ],
    "servo_angle": [
      [
        82.347901,
        -24.438999,
        -59.93488,
        124.748668,
        9.598705,
        -14.166954,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -50.543758,
        -22.315045,
        -47.100454,
        -194.920356,
        21.209408,
        55.069838,
        0.0
      ]
    ],
    "turn_angle": 394.94472575528397,
    "filename": "scan-0146_light-14_camera-146.png"
  },
  {
    "id": 147,
    "scan_id": "0147",
    "camera_id": 147,
    "light_id": 14,
    "position": [
      359.919586,
      -136.381149,
      414.753906
    ],
    "rotation_matrix": [
      [
        0.9062166102008318,
        -0.4228137169643575,
        0.0001270547052852622
      ],
      [
        -6.252248064780863e-05,
        0.00016649363532328376,
        0.9999999841854044
      ],
      [
        -0.4228137314315292,
        -0.9062166038131578,
        0.00012444393538624254
      ]
    ],
    "position_light": [
      446.259857,
      199.011124,
      304.580475
    ],
    "rotation_matrix_light": [
      [
        0.4670480637597311,
        0.5398522257824622,
        0.7003039914608565
      ],
      [
        0.4581885089148483,
        0.5296120946074047,
        -0.7138447447056995
      ],
      [
        -0.7562601380719957,
        0.6542710474744231,
        2.1696449553632036e-07
      ]
    ],
    "servo_angle": [
      [
        75.266945,
        -23.393695,
        -57.688771,
        120.171595,
        17.293012,
        -5.740751,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -50.543758,
        -22.315045,
        -47.100454,
        -194.920356,
        21.209408,
        55.069838,
        0.0
      ]
    ],
    "turn_angle": 394.94472575528397,
    "filename": "scan-0147_light-14_camera-147.png"
  },
  {
    "id": 148,
    "scan_id": "0148",
    "camera_id": 148,
    "light_id": 14,
    "position": [
      383.098846,
      -136.381149,
      404.423645
    ],
    "rotation_matrix": [
      [
        0.8844981917150433,
        -0.466543600305606,
        0.00013366638289777355
      ],
      [
        -6.279936638481365e-05,
        0.00016744513203259537,
        0.9999999840091838
      ],
      [
        -0.46654361522697807,
        -0.8844981859653591,
        0.00011880627400417954
      ]
    ],
    "position_light": [
      446.259857,
      199.011124,
      304.580475
    ],
    "rotation_matrix_light": [
      [
        0.4670480637597311,
        0.5398522257824622,
        0.7003039914608565
      ],
      [
        0.4581885089148483,
        0.5296120946074047,
        -0.7138447447056995
      ],
      [
        -0.7562601380719957,
        0.6542710474744231,
        2.1696449553632036e-07
      ]
    ],
    "servo_angle": [
      [
        70.968214,
        -22.165159,
        -56.860905,
        118.820217,
        21.994704,
        -2.201247,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -50.543758,
        -22.315045,
        -47.100454,
        -194.920356,
        21.209408,
        55.069838,
        0.0
      ]
    ],
    "turn_angle": 394.94472575528397,
    "filename": "scan-0148_light-14_camera-148.png"
  },
  {
    "id": 149,
    "scan_id": "0149",
    "camera_id": 149,
    "light_id": 14,
    "position": [
      430.629547,
      -136.381149,
      378.724335
    ],
    "rotation_matrix": [
      [
        0.831281013000519,
        -0.5558523690771164,
        0.00014565777766134547
      ],
      [
        -6.317040396924822e-05,
        0.00016757222439678365,
        0.9999999839645248
      ],
      [
        -0.5558523845719574,
        -0.8312810088717935,
        0.00010418618974539218
      ]
    ],
    "position_light": [
      446.259857,
      199.011124,
      304.580475
    ],
    "rotation_matrix_light": [
      [
        0.4670480637597311,
        0.5398522257824622,
        0.7003039914608565
      ],
      [
        0.4581885089148483,
        0.5296120946074047,
        -0.7138447447056995
      ],
      [
        -0.7562601380719957,
        0.6542710474744231,
        2.1696449553632036e-07
      ]
    ],
    "servo_angle": [
      [
        62.626636,
        -18.276838,
        -56.128321,
        117.687536,
        31.341479,
        3.076898,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -50.543758,
        -22.315045,
        -47.100454,
        -194.920356,
        21.209408,
        55.069838,
        0.0
      ]
    ],
    "turn_angle": 394.94472575528397,
    "filename": "scan-0149_light-14_camera-149.png"
  },
  {
    "id": 150,
    "scan_id": "0150",
    "camera_id": 150,
    "light_id": 15,
    "position": [
      447.420288,
      -136.381149,
      368.037201
    ],
    "rotation_matrix": [
      [
        0.8093892132743955,
        -0.5872725765415963,
        0.0001492556532643463
      ],
      [
        -6.313135857821672e-05,
        0.00016714182502364228,
        0.9999999840390208
      ],
      [
        -0.5872725921150133,
        -0.8093892097784632,
        9.820747464828194e-05
      ]
    ],
    "position_light": [
      476.85022,
      189.994949,
      438.502441
    ],
    "rotation_matrix_light": [
      [
        0.5674390615363804,
        0.499644411172467,
        0.6544985667110592
      ],
      [
        0.49121272835363655,
        0.4325256400842258,
        -0.7560632421782635
      ],
      [
        -0.660850184948214,
        0.7505178432614709,
        2.488811415846115e-07
      ]
    ],
    "servo_angle": [
      [
        59.892596,
        -16.469385,
        -56.145452,
        117.585264,
        34.496758,
        4.539201,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.388177,
        -15.295395,
        -75.788393,
        -184.87125,
        -1.135087,
        53.403333,
        0.0
      ]
    ],
    "turn_angle": 441.33469453726144,
    "filename": "scan-0150_light-15_camera-150.png"
  },
  {
    "id": 151,
    "scan_id": "0151",
    "camera_id": 151,
    "light_id": 15,
    "position": [
      486.586151,
      -136.381149,
      339.318085
    ],
    "rotation_matrix": [
      [
        0.7510376882588838,
        -0.660259317241797,
        0.0001575123735632067
      ],
      [
        -6.308919143455105e-05,
        0.00016679811657871468,
        0.9999999840990711
      ],
      [
        -0.6602593330158277,
        -0.7510376862540152,
        8.361644541932112e-05
      ]
    ],
    "position_light": [
      476.85022,
      189.994949,
      438.502441
    ],
    "rotation_matrix_light": [
      [
        0.5674390615363804,
        0.499644411172467,
        0.6544985667110592
      ],
      [
        0.49121272835363655,
        0.4325256400842258,
        -0.7560632421782635
      ],
      [
        -0.660850184948214,
        0.7505178432614709,
        2.488811415846115e-07
      ]
    ],
    "servo_angle": [
      [
        54.006429,
        -11.369259,
        -56.723738,
        117.647544,
        41.506266,
        7.471427,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.388177,
        -15.295395,
        -75.788393,
        -184.87125,
        -1.135087,
        53.403333,
        0.0
      ]
    ],
    "turn_angle": 441.33469453726144,
    "filename": "scan-0151_light-15_camera-151.png"
  },
  {
    "id": 152,
    "scan_id": "0152",
    "camera_id": 152,
    "light_id": 15,
    "position": [
      503.323395,
      -136.381149,
      325.205963
    ],
    "rotation_matrix": [
      [
        0.7225662319988339,
        -0.6913016811718758,
        0.00016119536473274687
      ],
      [
        -6.286663182197838e-05,
        0.0001674667660050977,
        0.9999999840013344
      ],
      [
        -0.6913016971068378,
        -0.7225662305725479,
        7.754602182918902e-05
      ]
    ],
    "position_light": [
      476.85022,
      189.994949,
      438.502441
    ],
    "rotation_matrix_light": [
      [
        0.5674390615363804,
        0.499644411172467,
        0.6544985667110592
      ],
      [
        0.49121272835363655,
        0.4325256400842258,
        -0.7560632421782635
      ],
      [
        -0.660850184948214,
        0.7505178432614709,
        2.488811415846115e-07
      ]
    ],
    "servo_angle": [
      [
        51.703081,
        -8.802236,
        -57.207487,
        117.750275,
        44.350543,
        8.590012,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.388177,
        -15.295395,
        -75.788393,
        -184.87125,
        -1.135087,
        53.403333,
        0.0
      ]
    ],
    "turn_angle": 441.33469453726144,
    "filename": "scan-0152_light-15_camera-152.png"
  },
  {
    "id": 153,
    "scan_id": "0153",
    "camera_id": 153,
    "light_id": 15,
    "position": [
      526.676819,
      -136.381149,
      303.347351
    ],
    "rotation_matrix": [
      [
        0.6786722739802373,
        -0.7344412277291941,
        0.00016595821088688512
      ],
      [
        -6.312235541972022e-05,
        0.00016763603551145367,
        0.9999999839568637
      ],
      [
        -0.73444124376703,
        -0.6786722735678786,
        6.741026921003312e-05
      ]
    ],
    "position_light": [
      476.85022,
      189.994949,
      438.502441
    ],
    "rotation_matrix_light": [
      [
        0.5674390615363804,
        0.499644411172467,
        0.6544985667110592
      ],
      [
        0.49121272835363655,
        0.4325256400842258,
        -0.7560632421782635
      ],
      [
        -0.660850184948214,
        0.7505178432614709,
        2.488811415846115e-07
      ]
    ],
    "servo_angle": [
      [
        48.695511,
        -4.808262,
        -58.138085,
        117.932591,
        48.175552,
        10.080505,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.388177,
        -15.295395,
        -75.788393,
        -184.87125,
        -1.135087,
        53.403333,
        0.0
      ]
    ],
    "turn_angle": 441.33469453726144,
    "filename": "scan-0153_light-15_camera-153.png"
  },
  {
    "id": 154,
    "scan_id": "0154",
    "camera_id": 154,
    "light_id": 15,
    "position": [
      549.025269,
      -136.381149,
      279.660706
    ],
    "rotation_matrix": [
      [
        0.6313449825916843,
        -0.7755020851286295,
        0.0001700513266084669
      ],
      [
        -6.313914904476636e-05,
        0.0001678767103470702,
        0.9999999839154288
      ],
      [
        -0.7755021012026684,
        -0.631344983173667,
        5.70235770342431e-05
      ]
    ],
    "position_light": [
      476.85022,
      189.994949,
      438.502441
    ],
    "rotation_matrix_light": [
      [
        0.5674390615363804,
        0.499644411172467,
        0.6544985667110592
      ],
      [
        0.49121272835363655,
        0.4325256400842258,
        -0.7560632421782635
      ],
      [
        -0.660850184948214,
        0.7505178432614709,
        2.488811415846115e-07
      ]
    ],
    "servo_angle": [
      [
        46.032117,
        -0.496984,
        -59.337171,
        118.130376,
        51.693284,
        11.482189,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.388177,
        -15.295395,
        -75.788393,
        -184.87125,
        -1.135087,
        53.403333,
        0.0
      ]
    ],
    "turn_angle": 441.33469453726144,
    "filename": "scan-0154_light-15_camera-154.png"
  },
  {
    "id": 155,
    "scan_id": "0155",
    "camera_id": 155,
    "light_id": 15,
    "position": [
      571.751465,
      -136.381149,
      252.163025
    ],
    "rotation_matrix": [
      [
        0.5766606227593984,
        -0.8169837796633685,
        0.0001729904593611442
      ],
      [
        -6.285359295199466e-05,
        0.00016737818784878788,
        0.9999999840169839
      ],
      [
        -0.8169837955603333,
        -0.5766606244156943,
        4.517004410581338e-05
      ]
    ],
    "position_light": [
      476.85022,
      189.994949,
      438.502441
    ],
    "rotation_matrix_light": [
      [
        0.5674390615363804,
        0.499644411172467,
        0.6544985667110592
      ],
      [
        0.49121272835363655,
        0.4325256400842258,
        -0.7560632421782635
      ],
      [
        -0.660850184948214,
        0.7505178432614709,
        2.488811415846115e-07
      ]
    ],
    "servo_angle": [
      [
        43.525025,
        4.450622,
        -60.91756,
        118.342542,
        55.149823,
        12.944434,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.388177,
        -15.295395,
        -75.788393,
        -184.87125,
        -1.135087,
        53.403333,
        0.0
      ]
    ],
    "turn_angle": 441.33469453726144,
    "filename": "scan-0155_light-15_camera-155.png"
  },
  {
    "id": 156,
    "scan_id": "0156",
    "camera_id": 156,
    "light_id": 15,
    "position": [
      593.601685,
      -136.381149,
      221.567993
    ],
    "rotation_matrix": [
      [
        0.5160930761920908,
        -0.856532489720945,
        0.0001753825082124738
      ],
      [
        -6.296258906218766e-05,
        0.00016682140008117408,
        0.9999999841031664
      ],
      [
        -0.856532505362346,
        -0.5160930790303817,
        3.216586637388996e-05
      ]
    ],
    "position_light": [
      476.85022,
      189.994949,
      438.502441
    ],
    "rotation_matrix_light": [
      [
        0.5674390615363804,
        0.499644411172467,
        0.6544985667110592
      ],
      [
        0.49121272835363655,
        0.4325256400842258,
        -0.7560632421782635
      ],
      [
        -0.660850184948214,
        0.7505178432614709,
        2.488811415846115e-07
      ]
    ],
    "servo_angle": [
      [
        41.290662,
        9.860203,
        -62.859715,
        118.553849,
        58.389212,
        14.456699,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.388177,
        -15.295395,
        -75.788393,
        -184.87125,
        -1.135087,
        53.403333,
        0.0
      ]
    ],
    "turn_angle": 441.33469453726144,
    "filename": "scan-0156_light-15_camera-156.png"
  },
  {
    "id": 157,
    "scan_id": "0157",
    "camera_id": 157,
    "light_id": 15,
    "position": [
      621.070923,
      -136.381149,
      174.88591
    ],
    "rotation_matrix": [
      [
        0.4241493309080475,
        -0.9055922445247102,
        0.000178176746279457
      ],
      [
        -6.27757643394955e-05,
        0.00016734953938468689,
        0.9999999840266673
      ],
      [
        -0.9055922598771806,
        -0.42414933531815063,
        1.4131949827855816e-05
      ]
    ],
    "position_light": [
      476.85022,
      189.994949,
      438.502441
    ],
    "rotation_matrix_light": [
      [
        0.5674390615363804,
        0.499644411172467,
        0.6544985667110592
      ],
      [
        0.49121272835363655,
        0.4325256400842258,
        -0.7560632421782635
      ],
      [
        -0.660850184948214,
        0.7505178432614709,
        2.488811415846115e-07
      ]
    ],
    "servo_angle": [
      [
        38.700663,
        17.906249,
        -66.11022,
        118.840385,
        62.420658,
        16.667973,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.388177,
        -15.295395,
        -75.788393,
        -184.87125,
        -1.135087,
        53.403333,
        0.0
      ]
    ],
    "turn_angle": 441.33469453726144,
    "filename": "scan-0157_light-15_camera-157.png"
  },
  {
    "id": 158,
    "scan_id": "0158",
    "camera_id": 158,
    "light_id": 15,
    "position": [
      632.278748,
      -136.381149,
      151.98941
    ],
    "rotation_matrix": [
      [
        0.3792349326129719,
        -0.9253004020760626,
        0.00017833651189030908
      ],
      [
        -6.295234147901674e-05,
        0.0001669325785733644,
        0.9999999840852583
      ],
      [
        -0.9253004171203194,
        -0.37923493780424694,
        5.0568383040405784e-06
      ]
    ],
    "position_light": [
      476.85022,
      189.994949,
      438.502441
    ],
    "rotation_matrix_light": [
      [
        0.5674390615363804,
        0.499644411172467,
        0.6544985667110592
      ],
      [
        0.49121272835363655,
        0.4325256400842258,
        -0.7560632421782635
      ],
      [
        -0.660850184948214,
        0.7505178432614709,
        2.488811415846115e-07
      ]
    ],
    "servo_angle": [
      [
        37.705665,
        21.764088,
        -67.808753,
        118.97354,
        64.088423,
        17.74456,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.388177,
        -15.295395,
        -75.788393,
        -184.87125,
        -1.135087,
        53.403333,
        0.0
      ]
    ],
    "turn_angle": 441.33469453726144,
    "filename": "scan-0158_light-15_camera-158.png"
  },
  {
    "id": 159,
    "scan_id": "0159",
    "camera_id": 159,
    "light_id": 15,
    "position": [
      639.361023,
      -136.381149,
      135.859802
    ],
    "rotation_matrix": [
      [
        0.3476591125137336,
        -0.9376209839921312,
        0.00017850431602067784
      ],
      [
        -6.292911495231479e-05,
        0.00016704663781547113,
        0.9999999840676735
      ],
      [
        -0.9376209988721933,
        -0.3476591182078338,
        -9.283728319986473e-07
      ]
    ],
    "position_light": [
      476.85022,
      189.994949,
      438.502441
    ],
    "rotation_matrix_light": [
      [
        0.5674390615363804,
        0.499644411172467,
        0.6544985667110592
      ],
      [
        0.49121272835363655,
        0.4325256400842258,
        -0.7560632421782635
      ],
      [
        -0.660850184948214,
        0.7505178432614709,
        2.488811415846115e-07
      ]
    ],
    "servo_angle": [
      [
        37.092887,
        24.449542,
        -69.041586,
        119.067276,
        65.163808,
        18.507339,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -48.388177,
        -15.295395,
        -75.788393,
        -184.87125,
        -1.135087,
        53.403333,
        0.0
      ]
    ],
    "turn_angle": 441.33469453726144,
    "filename": "scan-0159_light-15_camera-159.png"
  },
  {
    "id": 160,
    "scan_id": "0160",
    "camera_id": 160,
    "light_id": 16,
    "position": [
      647.848999,
      -136.381149,
      114.262444
    ],
    "rotation_matrix": [
      [
        0.30546079553876027,
        -0.9522046368594099,
        0.0001786960189666953
      ],
      [
        -6.292529487134102e-05,
        0.00016747955145635096,
        0.9999999839955035
      ],
      [
        -0.9522046515477831,
        -0.30546080189451363,
        -8.759320527906844e-06
      ]
    ],
    "position_light": [
      326.763214,
      212.39418,
      192.932037
    ],
    "rotation_matrix_light": [
      [
        0.2956027504948687,
        0.4211871530210734,
        0.8574499379146695
      ],
      [
        0.4925776615559981,
        0.7018458829158517,
        -0.5145673949737706
      ],
      [
        -0.8185268848583364,
        0.57446822258857,
        1.9050087673999627e-07
      ]
    ],
    "servo_angle": [
      [
        36.372621,
        28.00675,
        -70.736453,
        119.195103,
        66.491007,
        19.539351,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.657735,
        -30.96029,
        -18.63677,
        -234.487504,
        56.177366,
        73.761326,
        0.0
      ]
    ],
    "turn_angle": 478.976347830418,
    "filename": "scan-0160_light-16_camera-160.png"
  },
  {
    "id": 161,
    "scan_id": "0161",
    "camera_id": 161,
    "light_id": 16,
    "position": [
      623.804443,
      -136.381149,
      169.557159
    ],
    "rotation_matrix": [
      [
        0.41368625158642436,
        -0.9104194932222867,
        0.0001777898982162629
      ],
      [
        -6.288061046427762e-05,
        0.0001667111177688918,
        0.9999999841267158
      ],
      [
        -0.9104195084104921,
        -0.41368625619940236,
        1.1718363895241168e-05
      ]
    ],
    "position_light": [
      326.763214,
      212.39418,
      192.932037
    ],
    "rotation_matrix_light": [
      [
        0.2956027504948687,
        0.4211871530210734,
        0.8574499379146695
      ],
      [
        0.4925776615559981,
        0.7018458829158517,
        -0.5145673949737706
      ],
      [
        -0.8185268848583364,
        0.57446822258857,
        1.9050087673999627e-07
      ]
    ],
    "servo_angle": [
      [
        38.454922,
        18.809058,
        -66.499945,
        118.871554,
        62.824765,
        16.91824,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.657735,
        -30.96029,
        -18.63677,
        -234.487504,
        56.177366,
        73.761326,
        0.0
      ]
    ],
    "turn_angle": 478.976347830418,
    "filename": "scan-0161_light-16_camera-161.png"
  },
  {
    "id": 162,
    "scan_id": "0162",
    "camera_id": 162,
    "light_id": 16,
    "position": [
      609.751587,
      -136.381149,
      195.49028
    ],
    "rotation_matrix": [
      [
        0.4646659449765932,
        -0.8854860407032786,
        0.0001769142197820539
      ],
      [
        -6.273046874971655e-05,
        0.00016687502415385636,
        0.9999999841088072
      ],
      [
        -0.8854860561544139,
        -0.46466594869040906,
        2.1994186386764536e-05
      ]
    ],
    "position_light": [
      326.763214,
      212.39418,
      192.932037
    ],
    "rotation_matrix_light": [
      [
        0.2956027504948687,
        0.4211871530210734,
        0.8574499379146695
      ],
      [
        0.4925776615559981,
        0.7018458829158517,
        -0.5145673949737706
      ],
      [
        -0.8185268848583364,
        0.57446822258857,
        1.9050087673999627e-07
      ]
    ],
    "servo_angle": [
      [
        39.74041,
        14.385652,
        -64.637718,
        118.717657,
        60.757189,
        15.6987,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.657735,
        -30.96029,
        -18.63677,
        -234.487504,
        56.177366,
        73.761326,
        0.0
      ]
    ],
    "turn_angle": 478.976347830418,
    "filename": "scan-0162_light-16_camera-162.png"
  },
  {
    "id": 163,
    "scan_id": "0163",
    "camera_id": 163,
    "light_id": 16,
    "position": [
      593.122131,
      -136.381149,
      222.292358
    ],
    "rotation_matrix": [
      [
        0.5175236171692105,
        -0.8556689049990522,
        0.00017518509868919008
      ],
      [
        -6.26222609385052e-05,
        0.00016685963002349702,
        0.9999999841181577
      ],
      [
        -0.8556689206407747,
        -0.5175236199204691,
        3.276987784339713e-05
      ]
    ],
    "position_light": [
      326.763214,
      212.39418,
      192.932037
    ],
    "rotation_matrix_light": [
      [
        0.2956027504948687,
        0.4211871530210734,
        0.8574499379146695
      ],
      [
        0.4925776615559981,
        0.7018458829158517,
        -0.5145673949737706
      ],
      [
        -0.8185268848583364,
        0.57446822258857,
        1.9050087673999627e-07
      ]
    ],
    "servo_angle": [
      [
        41.337931,
        9.73335,
        -62.811873,
        118.549093,
        58.318738,
        14.421749,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.657735,
        -30.96029,
        -18.63677,
        -234.487504,
        56.177366,
        73.761326,
        0.0
      ]
    ],
    "turn_angle": 478.976347830418,
    "filename": "scan-0163_light-16_camera-163.png"
  },
  {
    "id": 164,
    "scan_id": "0164",
    "camera_id": 164,
    "light_id": 16,
    "position": [
      584.805054,
      -136.381149,
      234.453354
    ],
    "rotation_matrix": [
      [
        0.5415689453508437,
        -0.8406563192295776,
        0.0001742726426146035
      ],
      [
        -6.281906376925939e-05,
        0.0001668360571659977,
        0.9999999841097478
      ],
      [
        -0.840656334946297,
        -0.5415689476928205,
        3.75439846001524e-05
      ]
    ],
    "position_light": [
      326.763214,
      212.39418,
      192.932037
    ],
    "rotation_matrix_light": [
      [
        0.2956027504948687,
        0.4211871530210734,
        0.8574499379146695
      ],
      [
        0.4925776615559981,
        0.7018458829158517,
        -0.5145673949737706
      ],
      [
        -0.8185268848583364,
        0.57446822258857,
        1.9050087673999627e-07
      ]
    ],
    "servo_angle": [
      [
        42.170439,
        7.594899,
        -62.02102,
        118.46779,
        57.092437,
        13.829826,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.657735,
        -30.96029,
        -18.63677,
        -234.487504,
        56.177366,
        73.761326,
        0.0
      ]
    ],
    "turn_angle": 478.976347830418,
    "filename": "scan-0164_light-16_camera-164.png"
  },
  {
    "id": 165,
    "scan_id": "0165",
    "camera_id": 165,
    "light_id": 16,
    "position": [
      561.776917,
      -136.381149,
      264.707367
    ],
    "rotation_matrix": [
      [
        0.6015758027112716,
        -0.7988157009975209,
        0.00017155794473433517
      ],
      [
        -6.316486263324705e-05,
        0.00016719687518113036,
        0.9999999840277023
      ],
      [
        -0.798815716922551,
        -0.6015758039391579,
        5.012451037506027e-05
      ]
    ],
    "position_light": [
      326.763214,
      212.39418,
      192.932037
    ],
    "rotation_matrix_light": [
      [
        0.2956027504948687,
        0.4211871530210734,
        0.8574499379146695
      ],
      [
        0.4925776615559981,
        0.7018458829158517,
        -0.5145673949737706
      ],
      [
        -0.8185268848583364,
        0.57446822258857,
        1.9050087673999627e-07
      ]
    ],
    "servo_angle": [
      [
        44.601384,
        2.202736,
        -60.174663,
        118.248462,
        53.645924,
        12.293669,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.657735,
        -30.96029,
        -18.63677,
        -234.487504,
        56.177366,
        73.761326,
        0.0
      ]
    ],
    "turn_angle": 478.976347830418,
    "filename": "scan-0165_light-16_camera-165.png"
  },
  {
    "id": 166,
    "scan_id": "0166",
    "camera_id": 166,
    "light_id": 16,
    "position": [
      526.511169,
      -136.381149,
      303.512177
    ],
    "rotation_matrix": [
      [
        0.6790027025204677,
        -0.7341357520498802,
        0.0001659278689992716
      ],
      [
        -6.31530881142206e-05,
        0.00016760762364737003,
        0.9999999839596858
      ],
      [
        -0.734135768084888,
        -0.6790027021079084,
        6.744308958256395e-05
      ]
    ],
    "position_light": [
      326.763214,
      212.39418,
      192.932037
    ],
    "rotation_matrix_light": [
      [
        0.2956027504948687,
        0.4211871530210734,
        0.8574499379146695
      ],
      [
        0.4925776615559981,
        0.7018458829158517,
        -0.5145673949737706
      ],
      [
        -0.8185268848583364,
        0.57446822258857,
        1.9050087673999627e-07
      ]
    ],
    "servo_angle": [
      [
        48.716023,
        -4.838399,
        -58.130407,
        117.931158,
        48.149024,
        10.070077,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.657735,
        -30.96029,
        -18.63677,
        -234.487504,
        56.177366,
        73.761326,
        0.0
      ]
    ],
    "turn_angle": 478.976347830418,
    "filename": "scan-0166_light-16_camera-166.png"
  },
  {
    "id": 167,
    "scan_id": "0167",
    "camera_id": 167,
    "light_id": 16,
    "position": [
      498.704102,
      -136.381149,
      329.22226
    ],
    "rotation_matrix": [
      [
        0.7306580698598728,
        -0.6827435531462775,
        0.00015995574807931012
      ],
      [
        -6.28310208826699e-05,
        0.0001670433247752956,
        0.9999999840743952
      ],
      [
        -0.6827435689927135,
        -0.7306580682738839,
        7.915407881803338e-05
      ]
    ],
    "position_light": [
      326.763214,
      212.39418,
      192.932037
    ],
    "rotation_matrix_light": [
      [
        0.2956027504948687,
        0.4211871530210734,
        0.8574499379146695
      ],
      [
        0.4925776615559981,
        0.7018458829158517,
        -0.5145673949737706
      ],
      [
        -0.8185268848583364,
        0.57446822258857,
        1.9050087673999627e-07
      ]
    ],
    "servo_angle": [
      [
        52.32623,
        -9.534648,
        -57.059263,
        117.718992,
        43.574414,
        8.286803,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.657735,
        -30.96029,
        -18.63677,
        -234.487504,
        56.177366,
        73.761326,
        0.0
      ]
    ],
    "turn_angle": 478.976347830418,
    "filename": "scan-0167_light-16_camera-167.png"
  },
  {
    "id": 168,
    "scan_id": "0168",
    "camera_id": 168,
    "light_id": 16,
    "position": [
      489.930511,
      -136.381149,
      336.593719
    ],
    "rotation_matrix": [
      [
        0.7455324037024595,
        -0.6664693617970852,
        0.00015752910516858565
      ],
      [
        -6.262673268347951e-05,
        0.0001663074861066871,
        0.9999999842098561
      ],
      [
        -0.6664693774717074,
        -0.7455324017959288,
        8.224882130780653e-05
      ]
    ],
    "position_light": [
      326.763214,
      212.39418,
      192.932037
    ],
    "rotation_matrix_light": [
      [
        0.2956027504948687,
        0.4211871530210734,
        0.8574499379146695
      ],
      [
        0.4925776615559981,
        0.7018458829158517,
        -0.5145673949737706
      ],
      [
        -0.8185268848583364,
        0.57446822258857,
        1.9050087673999627e-07
      ]
    ],
    "servo_angle": [
      [
        53.536088,
        -10.875369,
        -56.808708,
        117.665535,
        42.081745,
        7.699636,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.657735,
        -30.96029,
        -18.63677,
        -234.487504,
        56.177366,
        73.761326,
        0.0
      ]
    ],
    "turn_angle": 478.976347830418,
    "filename": "scan-0168_light-16_camera-168.png"
  },
  {
    "id": 169,
    "scan_id": "0169",
    "camera_id": 169,
    "light_id": 16,
    "position": [
      461.996613,
      -136.381149,
      358.000824
    ],
    "rotation_matrix": [
      [
        0.7889260564223467,
        -0.6144881237049169,
        0.00015272031552310272
      ],
      [
        -6.311873371983578e-05,
        0.00016749599451337804,
        0.9999999839805586
      ],
      [
        -0.6144881394412016,
        -0.7889260534237049,
        9.335624216388894e-05
      ]
    ],
    "position_light": [
      326.763214,
      212.39418,
      192.932037
    ],
    "rotation_matrix_light": [
      [
        0.2956027504948687,
        0.4211871530210734,
        0.8574499379146695
      ],
      [
        0.4925776615559981,
        0.7018458829158517,
        -0.5145673949737706
      ],
      [
        -0.8185268848583364,
        0.57446822258857,
        1.9050087673999627e-07
      ]
    ],
    "servo_angle": [
      [
        57.620532,
        -14.716879,
        -56.27219,
        117.569507,
        37.163761,
        5.696117,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.657735,
        -30.96029,
        -18.63677,
        -234.487504,
        56.177366,
        73.761326,
        0.0
      ]
    ],
    "turn_angle": 478.976347830418,
    "filename": "scan-0169_light-16_camera-169.png"
  },
  {
    "id": 170,
    "scan_id": "0170",
    "camera_id": 170,
    "light_id": 17,
    "position": [
      428.550842,
      -136.381149,
      379.985504
    ],
    "rotation_matrix": [
      [
        0.8338721886063207,
        -0.5519575638421248,
        0.00014417479588602067
      ],
      [
        -6.253774416914437e-05,
        0.00016672714358484386,
        0.9999999841455451
      ],
      [
        -0.5519575791289903,
        -0.8338721844020982,
        0.00010451094720137499
      ]
    ],
    "position_light": [
      236.420639,
      222.832428,
      111.689911
    ],
    "rotation_matrix_light": [
      [
        0.13541414834182364,
        0.2628972376263517,
        0.9552738093747216
      ],
      [
        0.43742813560904176,
        0.8492377035052747,
        -0.2957227571944452
      ],
      [
        -0.8889992320617922,
        0.45790868674171337,
        1.518482706241997e-07
      ]
    ],
    "servo_angle": [
      [
        62.973562,
        -18.484879,
        -56.135884,
        117.707991,
        30.944878,
        2.884441,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -104.162868,
        -14.122608,
        -16.54513,
        -266.547701,
        88.650838,
        57.89601,
        0.0
      ]
    ],
    "turn_angle": 515.2349566870785,
    "filename": "scan-0170_light-17_camera-170.png"
  },
  {
    "id": 171,
    "scan_id": "0171",
    "camera_id": 171,
    "light_id": 17,
    "position": [
      380.068085,
      -136.381149,
      405.852081
    ],
    "rotation_matrix": [
      [
        0.8874875969461506,
        -0.4608315826899947,
        0.00013289914160688476
      ],
      [
        -6.301161413854728e-05,
        0.0001670395788154755,
        0.999999984063658
      ],
      [
        -0.46083159754544145,
        -0.8874875911770339,
        0.00011920781252661161
      ]
    ],
    "position_light": [
      236.420639,
      222.832428,
      111.689911
    ],
    "rotation_matrix_light": [
      [
        0.13541414834182364,
        0.2628972376263517,
        0.9552738093747216
      ],
      [
        0.43742813560904176,
        0.8492377035052747,
        -0.2957227571944452
      ],
      [
        -0.8889992320617922,
        0.45790868674171337,
        1.518482706241997e-07
      ]
    ],
    "servo_angle": [
      [
        71.524556,
        -22.350969,
        -56.949942,
        118.956924,
        21.382957,
        -2.617787,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -104.162868,
        -14.122608,
        -16.54513,
        -266.547701,
        88.650838,
        57.89601,
        0.0
      ]
    ],
    "turn_angle": 515.2349566870785,
    "filename": "scan-0171_light-17_camera-171.png"
  },
  {
    "id": 172,
    "scan_id": "0172",
    "camera_id": 172,
    "light_id": 17,
    "position": [
      368.00116,
      -136.381149,
      411.305756
    ],
    "rotation_matrix": [
      [
        0.8989393640522718,
        -0.43807305661076335,
        0.00012972663542673568
      ],
      [
        -6.293039078525409e-05,
        0.00016699504063294457,
        0.999999984076211
      ],
      [
        -0.4380730712986852,
        -0.898939357901499,
        0.00012255030698143932
      ]
    ],
    "position_light": [
      236.420639,
      222.832428,
      111.689911
    ],
    "rotation_matrix_light": [
      [
        0.13541414834182364,
        0.2628972376263517,
        0.9552738093747216
      ],
      [
        0.43742813560904176,
        0.8492377035052747,
        -0.2957227571944452
      ],
      [
        -0.8889992320617922,
        0.45790868674171337,
        1.518482706241997e-07
      ]
    ],
    "servo_angle": [
      [
        73.758576,
        -23.015772,
        -57.360524,
        119.61405,
        18.936771,
        -4.407764,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -104.162868,
        -14.122608,
        -16.54513,
        -266.547701,
        88.650838,
        57.89601,
        0.0
      ]
    ],
    "turn_angle": 515.2349566870785,
    "filename": "scan-0172_light-17_camera-172.png"
  },
  {
    "id": 173,
    "scan_id": "0173",
    "camera_id": 173,
    "light_id": 17,
    "position": [
      341.578583,
      -136.381149,
      421.991638
    ],
    "rotation_matrix": [
      [
        0.9216017840868214,
        -0.38813674983280566,
        0.00012246311306221558
      ],
      [
        -6.266710370034234e-05,
        0.00016671700521514454,
        0.999999984139137
      ],
      [
        -0.38813676409330533,
        -0.9216017771438304,
        0.0001293232834921887
      ]
    ],
    "position_light": [
      236.420639,
      222.832428,
      111.689911
    ],
    "rotation_matrix_light": [
      [
        0.13541414834182364,
        0.2628972376263517,
        0.9552738093747216
      ],
      [
        0.43742813560904176,
        0.8492377035052747,
        -0.2957227571944452
      ],
      [
        -0.8889992320617922,
        0.45790868674171337,
        1.518482706241997e-07
      ]
    ],
    "servo_angle": [
      [
        78.696899,
        -24.048987,
        -58.610546,
        121.891901,
        13.569359,
        -9.270228,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -104.162868,
        -14.122608,
        -16.54513,
        -266.547701,
        88.650838,
        57.89601,
        0.0
      ]
    ],
    "turn_angle": 515.2349566870785,
    "filename": "scan-0173_light-17_camera-173.png"
  },
  {
    "id": 174,
    "scan_id": "0174",
    "camera_id": 174,
    "light_id": 17,
    "position": [
      299.200134,
      -136.381149,
      435.754395
    ],
    "rotation_matrix": [
      [
        0.9514593582521809,
        -0.3077743934499259,
        0.00011104448922621968
      ],
      [
        -6.280426461979793e-05,
        0.0001666440849083517,
        0.9999999841426865
      ],
      [
        -0.30777440707435816,
        -0.951459350138659,
        0.0001392255296340239
      ]
    ],
    "position_light": [
      236.420639,
      222.832428,
      111.689911
    ],
    "rotation_matrix_light": [
      [
        0.13541414834182364,
        0.2628972376263517,
        0.9552738093747216
      ],
      [
        0.43742813560904176,
        0.8492377035052747,
        -0.2957227571944452
      ],
      [
        -0.8889992320617922,
        0.45790868674171337,
        1.518482706241997e-07
      ]
    ],
    "servo_angle": [
      [
        86.186202,
        -24.476642,
        -61.938113,
        129.897152,
        5.327992,
        -21.720887,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -104.162868,
        -14.122608,
        -16.54513,
        -266.547701,
        88.650838,
        57.89601,
        0.0
      ]
    ],
    "turn_angle": 515.2349566870785,
    "filename": "scan-0174_light-17_camera-174.png"
  },
  {
    "id": 175,
    "scan_id": "0175",
    "camera_id": 175,
    "light_id": 17,
    "position": [
      257.198212,
      -136.381149,
      445.572357
    ],
    "rotation_matrix": [
      [
        0.9737033140089425,
        -0.22781976724559377,
        9.970037990644776e-05
      ],
      [
        -6.328688041756791e-05,
        0.00016713972443516134,
        0.9999999840295413
      ],
      [
        -0.22781978027110167,
        -0.9737033047681802,
        0.0001483265012186541
      ]
    ],
    "position_light": [
      236.420639,
      222.832428,
      111.689911
    ],
    "rotation_matrix_light": [
      [
        0.13541414834182364,
        0.2628972376263517,
        0.9552738093747216
      ],
      [
        0.43742813560904176,
        0.8492377035052747,
        -0.2957227571944452
      ],
      [
        -0.8889992320617922,
        0.45790868674171337,
        1.518482706241997e-07
      ]
    ],
    "servo_angle": [
      [
        91.000537,
        -23.538997,
        -67.283809,
        149.245364,
        -1.165625,
        -45.824362,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -104.162868,
        -14.122608,
        -16.54513,
        -266.547701,
        88.650838,
        57.89601,
        0.0
      ]
    ],
    "turn_angle": 515.2349566870785,
    "filename": "scan-0175_light-17_camera-175.png"
  },
  {
    "id": 176,
    "scan_id": "0176",
    "camera_id": 176,
    "light_id": 17,
    "position": [
      236.996475,
      -136.381149,
      449.006989
    ],
    "rotation_matrix": [
      [
        0.9819269079535644,
        -0.18926050498973016,
        9.320828663039737e-05
      ],
      [
        -6.284452374993865e-05,
        0.00016643491609358296,
        0.9999999841749923
      ],
      [
        -0.18926051750779455,
        -0.9819268982721938,
        0.0001515329362344886
      ]
    ],
    "position_light": [
      236.420639,
      222.832428,
      111.689911
    ],
    "rotation_matrix_light": [
      [
        0.13541414834182364,
        0.2628972376263517,
        0.9552738093747216
      ],
      [
        0.43742813560904176,
        0.8492377035052747,
        -0.2957227571944452
      ],
      [
        -0.8889992320617922,
        0.45790868674171337,
        1.518482706241997e-07
      ]
    ],
    "servo_angle": [
      [
        91.280599,
        -22.915791,
        -69.906867,
        164.891237,
        -3.063777,
        -63.785902,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -104.162868,
        -14.122608,
        -16.54513,
        -266.547701,
        88.650838,
        57.89601,
        0.0
      ]
    ],
    "turn_angle": 515.2349566870785,
    "filename": "scan-0176_light-17_camera-176.png"
  },
  {
    "id": 177,
    "scan_id": "0177",
    "camera_id": 177,
    "light_id": 17,
    "position": [
      206.017105,
      -136.381149,
      452.700745
    ],
    "rotation_matrix": [
      [
        0.991513600070627,
        -0.13000297645815684,
        8.358830428453756e-05
      ],
      [
        -6.247168868998842e-05,
        0.00016650983382771045,
        0.9999999841858817
      ],
      [
        -0.13000298832054905,
        -0.991513589612616,
        0.00015697525931157585
      ]
    ],
    "position_light": [
      236.420639,
      222.832428,
      111.689911
    ],
    "rotation_matrix_light": [
      [
        0.13541414834182364,
        0.2628972376263517,
        0.9552738093747216
      ],
      [
        0.43742813560904176,
        0.8492377035052747,
        -0.2957227571944452
      ],
      [
        -0.8889992320617922,
        0.45790868674171337,
        1.518482706241997e-07
      ]
    ],
    "servo_angle": [
      [
        89.584759,
        -22.608915,
        -71.136492,
        194.60523,
        -3.869528,
        -96.906701,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -104.162868,
        -14.122608,
        -16.54513,
        -266.547701,
        88.650838,
        57.89601,
        0.0
      ]
    ],
    "turn_angle": 515.2349566870785,
    "filename": "scan-0177_light-17_camera-177.png"
  },
  {
    "id": 178,
    "scan_id": "0178",
    "camera_id": 178,
    "light_id": 17,
    "position": [
      148.763412,
      -136.381149,
      454.620422
    ],
    "rotation_matrix": [
      [
        0.9997980801977704,
        -0.020094636930062693,
        6.632873444819415e-05
      ],
      [
        -6.299366384335085e-05,
        0.00016660113006905508,
        0.9999999841379305
      ],
      [
        -0.020094647661762284,
        -0.999798068517194,
        0.00016530165519790252
      ]
    ],
    "position_light": [
      236.420639,
      222.832428,
      111.689911
    ],
    "rotation_matrix_light": [
      [
        0.13541414834182364,
        0.2628972376263517,
        0.9552738093747216
      ],
      [
        0.43742813560904176,
        0.8492377035052747,
        -0.2957227571944452
      ],
      [
        -0.8889992320617922,
        0.45790868674171337,
        1.518482706241997e-07
      ]
    ],
    "servo_angle": [
      [
        91.88358,
        -23.93875,
        -65.328934,
        236.880978,
        1.656192,
        -145.413021,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -104.162868,
        -14.122608,
        -16.54513,
        -266.547701,
        88.650838,
        57.89601,
        0.0
      ]
    ],
    "turn_angle": 515.2349566870785,
    "filename": "scan-0178_light-17_camera-178.png"
  },
  {
    "id": 179,
    "scan_id": "0179",
    "camera_id": 179,
    "light_id": 17,
    "position": [
      132.641983,
      -136.381149,
      454.021362
    ],
    "rotation_matrix": [
      [
        0.9999401130470269,
        0.01094379171453916,
        6.117521998632355e-05
      ],
      [
        -6.300261281988982e-05,
        0.0001666351861740467,
        0.9999999841316926
      ],
      [
        0.010943781346935539,
        -0.9999401010338685,
        0.00016731469437264446
      ]
    ],
    "position_light": [
      236.420639,
      222.832428,
      111.689911
    ],
    "rotation_matrix_light": [
      [
        0.13541414834182364,
        0.2628972376263517,
        0.9552738093747216
      ],
      [
        0.43742813560904176,
        0.8492377035052747,
        -0.2957227571944452
      ],
      [
        -0.8889992320617922,
        0.45790868674171337,
        1.518482706241997e-07
      ]
    ],
    "servo_angle": [
      [
        94.370675,
        -24.085828,
        -64.061895,
        242.628948,
        4.39155,
        -152.839299,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -104.162868,
        -14.122608,
        -16.54513,
        -266.547701,
        88.650838,
        57.89601,
        0.0
      ]
    ],
    "turn_angle": 515.2349566870785,
    "filename": "scan-0179_light-17_camera-179.png"
  },
  {
    "id": 180,
    "scan_id": "0180",
    "camera_id": 180,
    "light_id": 18,
    "position": [
      122.62075,
      -136.381149,
      453.396027
    ],
    "rotation_matrix": [
      [
        0.9995421084722264,
        0.0302583879361032,
        5.788267818308129e-05
      ],
      [
        -6.297753598999249e-05,
        0.00016742537188318973,
        0.9999999840012873
      ],
      [
        0.030258377760979026,
        -0.9995420961261477,
        0.00016925430793912621
      ]
    ],
    "position_light": [
      -36.537594,
      206.724701,
      246.908249
    ],
    "rotation_matrix_light": [
      [
        0.3544964835739199,
        -0.4215727502963951,
        -0.8346308521383923
      ],
      [
        -0.53716107665146,
        0.6388009369685903,
        -0.5508097136568088
      ],
      [
        0.7653693362451686,
        0.6435913137508807,
        2.1342296180337783e-07
      ]
    ],
    "servo_angle": [
      [
        96.097914,
        -24.069785,
        -63.481833,
        245.251146,
        6.211951,
        -156.481191,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -129.627003,
        -19.070442,
        -39.827385,
        -149.79718,
        35.008122,
        114.852541,
        0.0
      ]
    ],
    "turn_angle": 527.5459931225625,
    "filename": "scan-0180_light-18_camera-180.png"
  },
  {
    "id": 181,
    "scan_id": "0181",
    "camera_id": 181,
    "light_id": 18,
    "position": [
      93.069557,
      -136.381149,
      450.414368
    ],
    "rotation_matrix": [
      [
        0.9961815648681931,
        0.08730571296618259,
        4.796066056188264e-05
      ],
      [
        -6.276580028222178e-05,
        0.0001668329923728007,
        0.9999999841136036
      ],
      [
        0.08730570357778888,
        -0.9961815520527468,
        0.0001716757643571154
      ]
    ],
    "position_light": [
      -36.537594,
      206.724701,
      246.908249
    ],
    "rotation_matrix_light": [
      [
        0.3544964835739199,
        -0.4215727502963951,
        -0.8346308521383923
      ],
      [
        -0.53716107665146,
        0.6388009369685903,
        -0.5508097136568088
      ],
      [
        0.7653693362451686,
        0.6435913137508807,
        2.1342296180337783e-07
      ]
    ],
    "servo_angle": [
      [
        101.558545,
        -23.550227,
        -62.500528,
        250.203393,
        11.83897,
        -164.354548,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -129.627003,
        -19.070442,
        -39.827385,
        -149.79718,
        35.008122,
        114.852541,
        0.0
      ]
    ],
    "turn_angle": 527.5459931225625,
    "filename": "scan-0181_light-18_camera-181.png"
  },
  {
    "id": 182,
    "scan_id": "0182",
    "camera_id": 182,
    "light_id": 18,
    "position": [
      55.06813,
      -136.381149,
      444.039215
    ],
    "rotation_matrix": [
      [
        0.9869756125492506,
        0.16086994428594825,
        3.547488875002558e-05
      ],
      [
        -6.316764702248012e-05,
        0.00016702957813641284,
        0.9999999840554842
      ],
      [
        0.16086993579559916,
        -0.9869755990532675,
        0.0001750158960521775
      ]
    ],
    "position_light": [
      -36.537594,
      206.724701,
      246.908249
    ],
    "rotation_matrix_light": [
      [
        0.3544964835739199,
        -0.4215727502963951,
        -0.8346308521383923
      ],
      [
        -0.53716107665146,
        0.6388009369685903,
        -0.5508097136568088
      ],
      [
        0.7653693362451686,
        0.6435913137508807,
        2.1342296180337783e-07
      ]
    ],
    "servo_angle": [
      [
        108.697313,
        -21.91999,
        -62.3456,
        253.136478,
        19.15014,
        -170.881969,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -129.627003,
        -19.070442,
        -39.827385,
        -149.79718,
        35.008122,
        114.852541,
        0.0
      ]
    ],
    "turn_angle": 527.5459931225625,
    "filename": "scan-0182_light-18_camera-182.png"
  },
  {
    "id": 183,
    "scan_id": "0183",
    "camera_id": 183,
    "light_id": 18,
    "position": [
      33.052551,
      -136.381149,
      439.0
    ],
    "rotation_matrix": [
      [
        0.9790548738989947,
        0.20359654503461858,
        2.728718492539528e-05
      ],
      [
        -6.266071005581186e-05,
        0.0001672969896731047,
        0.9999999840426763
      ],
      [
        0.20359653722069868,
        -0.9790548599857334,
        0.00017655043720488095
      ]
    ],
    "position_light": [
      -36.537594,
      206.724701,
      246.908249
    ],
    "rotation_matrix_light": [
      [
        0.3544964835739199,
        -0.4215727502963951,
        -0.8346308521383923
      ],
      [
        -0.53716107665146,
        0.6388009369685903,
        -0.5508097136568088
      ],
      [
        0.7653693362451686,
        0.6435913137508807,
        2.1342296180337783e-07
      ]
    ],
    "servo_angle": [
      [
        112.682578,
        -20.524781,
        -62.646289,
        253.934207,
        23.254523,
        -173.681269,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -129.627003,
        -19.070442,
        -39.827385,
        -149.79718,
        35.008122,
        114.852541,
        0.0
      ]
    ],
    "turn_angle": 527.5459931225625,
    "filename": "scan-0183_light-18_camera-183.png"
  },
  {
    "id": 184,
    "scan_id": "0184",
    "camera_id": 184,
    "light_id": 18,
    "position": [
      2.959105,
      -136.381149,
      430.449097
    ],
    "rotation_matrix": [
      [
        0.965031971577742,
        0.2621322062521029,
        1.667874679742165e-05
      ],
      [
        -6.272327731218774e-05,
        0.0001672866606668988,
        0.9999999840404814
      ],
      [
        0.2621321992784672,
        -0.9650319572224422,
        0.0001778787670272397
      ]
    ],
    "position_light": [
      -36.537594,
      206.724701,
      246.908249
    ],
    "rotation_matrix_light": [
      [
        0.3544964835739199,
        -0.4215727502963951,
        -0.8346308521383923
      ],
      [
        -0.53716107665146,
        0.6388009369685903,
        -0.5508097136568088
      ],
      [
        0.7653693362451686,
        0.6435913137508807,
        2.1342296180337783e-07
      ]
    ],
    "servo_angle": [
      [
        117.832552,
        -18.129702,
        -63.41262,
        254.458807,
        28.60211,
        -176.845486,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -129.627003,
        -19.070442,
        -39.827385,
        -149.79718,
        35.008122,
        114.852541,
        0.0
      ]
    ],
    "turn_angle": 527.5459931225625,
    "filename": "scan-0184_light-18_camera-184.png"
  },
  {
    "id": 185,
    "scan_id": "0185",
    "camera_id": 185,
    "light_id": 18,
    "position": [
      -35.763107,
      -136.381149,
      416.464905
    ],
    "rotation_matrix": [
      [
        0.9412562492004513,
        0.3376931644728597,
        3.066623326414275e-06
      ],
      [
        -6.306717138329643e-05,
        0.00016670679726105142,
        0.9999999841156877
      ],
      [
        0.33769315859760907,
        -0.9412562344426463,
        0.00017821116738492293
      ]
    ],
    "position_light": [
      -36.537594,
      206.724701,
      246.908249
    ],
    "rotation_matrix_light": [
      [
        0.3544964835739199,
        -0.4215727502963951,
        -0.8346308521383923
      ],
      [
        -0.53716107665146,
        0.6388009369685903,
        -0.5508097136568088
      ],
      [
        0.7653693362451686,
        0.6435913137508807,
        2.1342296180337783e-07
      ]
    ],
    "servo_angle": [
      [
        123.866485,
        -14.286989,
        -64.913654,
        254.605542,
        34.952087,
        -180.235391,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -129.627003,
        -19.070442,
        -39.827385,
        -149.79718,
        35.008122,
        114.852541,
        0.0
      ]
    ],
    "turn_angle": 527.5459931225625,
    "filename": "scan-0185_light-18_camera-185.png"
  },
  {
    "id": 186,
    "scan_id": "0186",
    "camera_id": 186,
    "light_id": 18,
    "position": [
      -75.917603,
      -136.381149,
      398.113953
    ],
    "rotation_matrix": [
      [
        0.9092015491733427,
        0.41635626911188806,
        -1.232975623360888e-05
      ],
      [
        -6.272842014073965e-05,
        0.00016659418376324675,
        0.9999999841557615
      ],
      [
        0.4163562645691057,
        -0.9092015339943104,
        0.000177585060937957
      ]
    ],
    "position_light": [
      -36.537594,
      206.724701,
      246.908249
    ],
    "rotation_matrix_light": [
      [
        0.3544964835739199,
        -0.4215727502963951,
        -0.8346308521383923
      ],
      [
        -0.53716107665146,
        0.6388009369685903,
        -0.5508097136568088
      ],
      [
        0.7653693362451686,
        0.6435913137508807,
        2.1342296180337783e-07
      ]
    ],
    "servo_angle": [
      [
        129.38934,
        -9.47317,
        -67.026436,
        254.462016,
        40.871142,
        -183.310455,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -129.627003,
        -19.070442,
        -39.827385,
        -149.79718,
        35.008122,
        114.852541,
        0.0
      ]
    ],
    "turn_angle": 527.5459931225625,
    "filename": "scan-0186_light-18_camera-186.png"
  },
  {
    "id": 187,
    "scan_id": "0187",
    "camera_id": 187,
    "light_id": 18,
    "position": [
      -89.030602,
      -136.381149,
      391.196686
    ],
    "rotation_matrix": [
      [
        0.8969562857661166,
        0.44211923856826973,
        -1.7676710339337154e-05
      ],
      [
        -6.279156507965622e-05,
        0.0001673711356415808,
        0.9999999840220611
      ],
      [
        0.44211923446268664,
        -0.8969562703246555,
        0.00017788595111112304
      ]
    ],
    "position_light": [
      -36.537594,
      206.724701,
      246.908249
    ],
    "rotation_matrix_light": [
      [
        0.3544964835739199,
        -0.4215727502963951,
        -0.8346308521383923
      ],
      [
        -0.53716107665146,
        0.6388009369685903,
        -0.5508097136568088
      ],
      [
        0.7653693362451686,
        0.6435913137508807,
        2.1342296180337783e-07
      ]
    ],
    "servo_angle": [
      [
        131.035792,
        -7.727539,
        -67.836541,
        254.384495,
        42.660547,
        -184.263055,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -129.627003,
        -19.070442,
        -39.827385,
        -149.79718,
        35.008122,
        114.852541,
        0.0
      ]
    ],
    "turn_angle": 527.5459931225625,
    "filename": "scan-0187_light-18_camera-187.png"
  },
  {
    "id": 188,
    "scan_id": "0188",
    "camera_id": 188,
    "light_id": 18,
    "position": [
      -139.722488,
      -136.381149,
      359.615204
    ],
    "rotation_matrix": [
      [
        0.8403129842051045,
        0.5421015469244321,
        -3.7395848316690294e-05
      ],
      [
        -6.302078321623883e-05,
        0.00016667178067819588,
        0.999999984124449
      ],
      [
        0.5421015445511039,
        -0.8403129685079572,
        0.00017422012547441135
      ]
    ],
    "position_light": [
      -36.537594,
      206.724701,
      246.908249
    ],
    "rotation_matrix_light": [
      [
        0.3544964835739199,
        -0.4215727502963951,
        -0.8346308521383923
      ],
      [
        -0.53716107665146,
        0.6388009369685903,
        -0.5508097136568088
      ],
      [
        0.7653693362451686,
        0.6435913137508807,
        2.1342296180337783e-07
      ]
    ],
    "servo_angle": [
      [
        136.730877,
        -0.184836,
        -71.549652,
        254.036767,
        48.962796,
        -187.879164,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -129.627003,
        -19.070442,
        -39.827385,
        -149.79718,
        35.008122,
        114.852541,
        0.0
      ]
    ],
    "turn_angle": 527.5459931225625,
    "filename": "scan-0188_light-18_camera-188.png"
  },
  {
    "id": 189,
    "scan_id": "0189",
    "camera_id": 189,
    "light_id": 18,
    "position": [
      -147.517242,
      -136.381149,
      354.004517
    ],
    "rotation_matrix": [
      [
        0.8301525985422065,
        0.5575362422977506,
        -4.072009694988665e-05
      ],
      [
        -6.3084653908696e-05,
        0.0001669666985020246,
        0.9999999840712239
      ],
      [
        0.5575362402157807,
        -0.8301525827500784,
        0.00017377981951838262
      ]
    ],
    "position_light": [
      -36.537594,
      206.724701,
      246.908249
    ],
    "rotation_matrix_light": [
      [
        0.3544964835739199,
        -0.4215727502963951,
        -0.8346308521383923
      ],
      [
        -0.53716107665146,
        0.6388009369685903,
        -0.5508097136568088
      ],
      [
        0.7653693362451686,
        0.6435913137508807,
        2.1342296180337783e-07
      ]
    ],
    "servo_angle": [
      [
        137.519038,
        1.089766,
        -72.207923,
        253.981705,
        49.851339,
        -188.440433,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -129.627003,
        -19.070442,
        -39.827385,
        -149.79718,
        35.008122,
        114.852541,
        0.0
      ]
    ],
    "turn_angle": 527.5459931225625,
    "filename": "scan-0189_light-18_camera-189.png"
  },
  {
    "id": 190,
    "scan_id": "0190",
    "camera_id": 190,
    "light_id": 19,
    "position": [
      -185.982666,
      -136.381149,
      322.850037
    ],
    "rotation_matrix": [
      [
        0.7733493506346588,
        0.6339801089756913,
        -5.74118588070327e-05
      ],
      [
        -6.264186253579496e-05,
        0.0001669703829979552,
        0.9999999840984437
      ],
      [
        0.6339801084805012,
        -0.7733493347408151,
        0.00016884013210360926
      ]
    ],
    "position_light": [
      170.872055,
      180.296082,
      491.084869
    ],
    "rotation_matrix_light": [
      [
        0.11502530110176928,
        0.06129430703868072,
        0.9914697111011993
      ],
      [
        0.8749909946053567,
        0.4662648897254757,
        -0.13033730075776123
      ],
      [
        -0.470276450043989,
        0.8825191559019772,
        2.9265443474146835e-07
      ]
    ],
    "servo_angle": [
      [
        141.104608,
        7.869232,
        -75.846205,
        253.717687,
        53.957498,
        -191.306712,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -117.816681,
        -25.457432,
        -63.167795,
        -269.493105,
        110.579709,
        150.622411,
        0.0
      ]
    ],
    "turn_angle": 549.1692003855788,
    "filename": "scan-0190_light-19_camera-190.png"
  },
  {
    "id": 191,
    "scan_id": "0191",
    "camera_id": 191,
    "light_id": 19,
    "position": [
      -219.599609,
      -136.381149,
      290.015167
    ],
    "rotation_matrix": [
      [
        0.7129262154726532,
        0.701239050603973,
        -7.211018559499793e-05
      ],
      [
        -6.27371512917918e-05,
        0.00016661528503231215,
        0.9999999841516982
      ],
      [
        0.7012390515051841,
        -0.7129261996499958,
        0.00016277814500736953
      ]
    ],
    "position_light": [
      170.872055,
      180.296082,
      491.084869
    ],
    "rotation_matrix_light": [
      [
        0.11502530110176928,
        0.06129430703868072,
        0.9914697111011993
      ],
      [
        0.8749909946053567,
        0.4662648897254757,
        -0.13033730075776123
      ],
      [
        -0.470276450043989,
        0.8825191559019772,
        2.9265443474146835e-07
      ]
    ],
    "servo_angle": [
      [
        143.866494,
        14.559029,
        -79.651962,
        253.502655,
        57.208805,
        -194.041382,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -117.816681,
        -25.457432,
        -63.167795,
        -269.493105,
        110.579709,
        150.622411,
        0.0
      ]
    ],
    "turn_angle": 549.1692003855788,
    "filename": "scan-0191_light-19_camera-191.png"
  },
  {
    "id": 192,
    "scan_id": "0192",
    "camera_id": 192,
    "light_id": 19,
    "position": [
      -229.074615,
      -136.381149,
      279.60498
    ],
    "rotation_matrix": [
      [
        0.6936747123484335,
        0.7202884058632746,
        -7.633649540333964e-05
      ],
      [
        -6.312541675684846e-05,
        0.00016677347368426743,
        0.9999999841008949
      ],
      [
        0.7202884071422362,
        -0.6936746965008533,
        0.00016115504719055318
      ]
    ],
    "position_light": [
      170.872055,
      180.296082,
      491.084869
    ],
    "rotation_matrix_light": [
      [
        0.11502530110176928,
        0.06129430703868072,
        0.9914697111011993
      ],
      [
        0.8749909946053567,
        0.4662648897254757,
        -0.13033730075776123
      ],
      [
        -0.470276450043989,
        0.8825191559019772,
        2.9265443474146835e-07
      ]
    ],
    "servo_angle": [
      [
        144.589223,
        16.599962,
        -80.854372,
        253.444443,
        58.075747,
        -194.871483,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -117.816681,
        -25.457432,
        -63.167795,
        -269.493105,
        110.579709,
        150.622411,
        0.0
      ]
    ],
    "turn_angle": 549.1692003855788,
    "filename": "scan-0192_light-19_camera-192.png"
  },
  {
    "id": 193,
    "scan_id": "0193",
    "camera_id": 193,
    "light_id": 19,
    "position": [
      -248.255234,
      -136.381149,
      256.650909
    ],
    "rotation_matrix": [
      [
        0.6510874707216627,
        0.7590026997151542,
        -8.540711490617747e-05
      ],
      [
        -6.315900061726332e-05,
        0.00016670447623151619,
        0.999999984110279
      ],
      [
        0.7590027018925614,
        -0.6510874549818365,
        0.00015647704776727833
      ]
    ],
    "position_light": [
      170.872055,
      180.296082,
      491.084869
    ],
    "rotation_matrix_light": [
      [
        0.11502530110176928,
        0.06129430703868072,
        0.9914697111011993
      ],
      [
        0.8749909946053567,
        0.4662648897254757,
        -0.13033730075776123
      ],
      [
        -0.470276450043989,
        0.8825191559019772,
        2.9265443474146835e-07
      ]
    ],
    "servo_angle": [
      [
        145.983974,
        20.985553,
        -83.502239,
        253.328591,
        59.772447,
        -196.661002,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -117.816681,
        -25.457432,
        -63.167795,
        -269.493105,
        110.579709,
        150.622411,
        0.0
      ]
    ],
    "turn_angle": 549.1692003855788,
    "filename": "scan-0193_light-19_camera-193.png"
  },
  {
    "id": 194,
    "scan_id": "0194",
    "camera_id": 194,
    "light_id": 19,
    "position": [
      -267.72644,
      -136.381149,
      230.265503
    ],
    "rotation_matrix": [
      [
        0.6019280298162358,
        0.7985503351229197,
        -9.58989923279252e-05
      ],
      [
        -6.260302544247587e-05,
        0.000167280008144699,
        0.9999999840491297
      ],
      [
        0.7985503384273314,
        -0.6019280142113931,
        0.00015068219267699856
      ]
    ],
    "position_light": [
      170.872055,
      180.296082,
      491.084869
    ],
    "rotation_matrix_light": [
      [
        0.11502530110176928,
        0.06129430703868072,
        0.9914697111011993
      ],
      [
        0.8749909946053567,
        0.4662648897254757,
        -0.13033730075776123
      ],
      [
        -0.470276450043989,
        0.8825191559019772,
        2.9265443474146835e-07
      ]
    ],
    "servo_angle": [
      [
        147.313351,
        25.859419,
        -86.547166,
        253.210963,
        61.424399,
        -198.670766,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -117.816681,
        -25.457432,
        -63.167795,
        -269.493105,
        110.579709,
        150.622411,
        0.0
      ]
    ],
    "turn_angle": 549.1692003855788,
    "filename": "scan-0194_light-19_camera-194.png"
  },
  {
    "id": 195,
    "scan_id": "0195",
    "camera_id": 195,
    "light_id": 19,
    "position": [
      -284.9086,
      -136.381149,
      203.678253
    ],
    "rotation_matrix": [
      [
        0.5521963228031519,
        0.8337141058505029,
        -0.0001038680585682683
      ],
      [
        -6.295309055615039e-05,
        0.00016628064832763245,
        0.999999984193827
      ],
      [
        0.8337141099439216,
        -0.552196307536226,
        0.0001443044421634565
      ]
    ],
    "position_light": [
      170.872055,
      180.296082,
      491.084869
    ],
    "rotation_matrix_light": [
      [
        0.11502530110176928,
        0.06129430703868072,
        0.9914697111011993
      ],
      [
        0.8749909946053567,
        0.4662648897254757,
        -0.13033730075776123
      ],
      [
        -0.470276450043989,
        0.8825191559019772,
        2.9265443474146835e-07
      ]
    ],
    "servo_angle": [
      [
        148.420592,
        30.622188,
        -89.626699,
        253.103304,
        62.833703,
        -200.66741,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -117.816681,
        -25.457432,
        -63.167795,
        -269.493105,
        110.579709,
        150.622411,
        0.0
      ]
    ],
    "turn_angle": 549.1692003855788,
    "filename": "scan-0195_light-19_camera-195.png"
  },
  {
    "id": 196,
    "scan_id": "0196",
    "camera_id": 196,
    "light_id": 19,
    "position": [
      -306.198486,
      -136.381149,
      164.762115
    ],
    "rotation_matrix": [
      [
        0.4790940658560044,
        0.8777635572391087,
        -0.00011680971021515996
      ],
      [
        -6.276343754196834e-05,
        0.00016733355767323266,
        0.9999999840301155
      ],
      [
        0.8777635627675104,
        -0.47909405087354856,
        0.00013525997270119605
      ]
    ],
    "position_light": [
      170.872055,
      180.296082,
      491.084869
    ],
    "rotation_matrix_light": [
      [
        0.11502530110176928,
        0.06129430703868072,
        0.9914697111011993
      ],
      [
        0.8749909946053567,
        0.4662648897254757,
        -0.13033730075776123
      ],
      [
        -0.470276450043989,
        0.8825191559019772,
        2.9265443474146835e-07
      ]
    ],
    "servo_angle": [
      [
        149.716106,
        37.385611,
        -94.178219,
        252.955939,
        64.535903,
        -203.573623,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -117.816681,
        -25.457432,
        -63.167795,
        -269.493105,
        110.579709,
        150.622411,
        0.0
      ]
    ],
    "turn_angle": 549.1692003855788,
    "filename": "scan-0196_light-19_camera-196.png"
  },
  {
    "id": 197,
    "scan_id": "0197",
    "camera_id": 197,
    "light_id": 19,
    "position": [
      -317.53717,
      -136.381149,
      140.158234
    ],
    "rotation_matrix": [
      [
        0.4327061421146866,
        0.90153501287172,
        -0.00012305532193945812
      ],
      [
        -6.274323666499715e-05,
        0.00016660995050205019,
        0.9999999841522051
      ],
      [
        0.9015350190866191,
        -0.4327061275363593,
        0.0001286583735940483
      ]
    ],
    "position_light": [
      170.872055,
      180.296082,
      491.084869
    ],
    "rotation_matrix_light": [
      [
        0.11502530110176928,
        0.06129430703868072,
        0.9914697111011993
      ],
      [
        0.8749909946053567,
        0.4662648897254757,
        -0.13033730075776123
      ],
      [
        -0.470276450043989,
        0.8825191559019772,
        2.9265443474146835e-07
      ]
    ],
    "servo_angle": [
      [
        150.375581,
        41.56614,
        -97.098642,
        252.864953,
        65.433556,
        -205.417688,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -117.816681,
        -25.457432,
        -63.167795,
        -269.493105,
        110.579709,
        150.622411,
        0.0
      ]
    ],
    "turn_angle": 549.1692003855788,
    "filename": "scan-0197_light-19_camera-197.png"
  },
  {
    "id": 198,
    "scan_id": "0198",
    "camera_id": 198,
    "light_id": 19,
    "position": [
      -329.559875,
      -136.381149,
      109.535835
    ],
    "rotation_matrix": [
      [
        0.37480397268522625,
        0.9271040744943465,
        -0.0001308256602783886
      ],
      [
        -6.296908962011294e-05,
        0.00016656891863442436,
        0.9999999841448444
      ],
      [
        0.927104081586456,
        -0.37480395850467824,
        0.00012080959198401686
      ]
    ],
    "position_light": [
      170.872055,
      180.296082,
      491.084869
    ],
    "rotation_matrix_light": [
      [
        0.11502530110176928,
        0.06129430703868072,
        0.9914697111011993
      ],
      [
        0.8749909946053567,
        0.4662648897254757,
        -0.13033730075776123
      ],
      [
        -0.470276450043989,
        0.8825191559019772,
        2.9265443474146835e-07
      ]
    ],
    "servo_angle": [
      [
        151.055338,
        46.698811,
        -100.80035,
        252.751049,
        66.391141,
        -207.736162,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -117.816681,
        -25.457432,
        -63.167795,
        -269.493105,
        110.579709,
        150.622411,
        0.0
      ]
    ],
    "turn_angle": 549.1692003855788,
    "filename": "scan-0198_light-19_camera-198.png"
  },
  {
    "id": 199,
    "scan_id": "0199",
    "camera_id": 199,
    "light_id": 19,
    "position": [
      -345.860962,
      -136.381149,
      54.316071
    ],
    "rotation_matrix": [
      [
        0.2699598307867722,
        0.9628715745550369,
        -0.00014378971442075006
      ],
      [
        -6.290103454126283e-05,
        0.00016696979017916114,
        0.9999999840822746
      ],
      [
        0.9628715832368497,
        -0.2699598174451039,
        0.00010564075447311305
      ]
    ],
    "position_light": [
      170.872055,
      180.296082,
      491.084869
    ],
    "rotation_matrix_light": [
      [
        0.11502530110176928,
        0.06129430703868072,
        0.9914697111011993
      ],
      [
        0.8749909946053567,
        0.4662648897254757,
        -0.13033730075776123
      ],
      [
        -0.470276450043989,
        0.8825191559019772,
        2.9265443474146835e-07
      ]
    ],
    "servo_angle": [
      [
        151.954824,
        55.862697,
        -107.748552,
        252.538425,
        67.74229,
        -212.034262,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -117.816681,
        -25.457432,
        -63.167795,
        -269.493105,
        110.579709,
        150.622411,
        0.0
      ]
    ],
    "turn_angle": 549.1692003855788,
    "filename": "scan-0199_light-19_camera-199.png"
  },
  {
    "id": 200,
    "scan_id": "0200",
    "camera_id": 200,
    "light_id": 20,
    "position": [
      -344.066681,
      -136.381149,
      61.682507
    ],
    "rotation_matrix": [
      [
        0.2839769819277148,
        0.9588310869836879,
        -0.0001427196750896087
      ],
      [
        -6.27570937030697e-05,
        0.00016743433233634697,
        0.9999999840136455
      ],
      [
        0.9588310955516479,
        -0.2839769684312862,
        0.00010772094873923166
      ]
    ],
    "position_light": [
      532.49115,
      204.029327,
      147.818634
    ],
    "rotation_matrix_light": [
      [
        0.3150215722861933,
        0.7233305742652795,
        0.6144544648119957
      ],
      [
        0.24534600313913127,
        0.5633468097638141,
        -0.7889522866894974
      ],
      [
        -0.9168242730959889,
        0.3992909368643301,
        1.3240988894214212e-07
      ]
    ],
    "servo_angle": [
      [
        151.856333,
        54.641266,
        -106.795838,
        252.567474,
        67.587305,
        -211.449272,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -42.034991,
        0.861958,
        -42.82235,
        -166.4722,
        48.746562,
        15.005421,
        0.0
      ]
    ],
    "turn_angle": 582.4211431415877,
    "filename": "scan-0200_light-20_camera-200.png"
  },
  {
    "id": 201,
    "scan_id": "0201",
    "camera_id": 201,
    "light_id": 20,
    "position": [
      -334.835449,
      -136.381149,
      93.963966
    ],
    "rotation_matrix": [
      [
        0.34529239482621515,
        0.938495148610838,
        -0.00013457004957395657
      ],
      [
        -6.284422977753668e-05,
        0.00016651091087138692,
        0.9999999841623597
      ],
      [
        0.9384951561546708,
        -0.34529238090064723,
        0.00011647395594394094
      ]
    ],
    "position_light": [
      532.49115,
      204.029327,
      147.818634
    ],
    "rotation_matrix_light": [
      [
        0.3150215722861933,
        0.7233305742652795,
        0.6144544648119957
      ],
      [
        0.24534600313913127,
        0.5633468097638141,
        -0.7889522866894974
      ],
      [
        -0.9168242730959889,
        0.3992909368643301,
        1.3240988894214212e-07
      ]
    ],
    "servo_angle": [
      [
        151.348406,
        49.289153,
        -102.718842,
        252.692207,
        66.818052,
        -208.930034,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -42.034991,
        0.861958,
        -42.82235,
        -166.4722,
        48.746562,
        15.005421,
        0.0
      ]
    ],
    "turn_angle": 582.4211431415877,
    "filename": "scan-0201_light-20_camera-201.png"
  },
  {
    "id": 202,
    "scan_id": "0202",
    "camera_id": 202,
    "light_id": 20,
    "position": [
      -327.728851,
      -136.381149,
      114.589027
    ],
    "rotation_matrix": [
      [
        0.38437093478212914,
        0.9231787301877206,
        -0.00012893292819637914
      ],
      [
        -6.304013554286891e-05,
        0.00016590906720953535,
        0.9999999842500613
      ],
      [
        0.923178737038854,
        -0.3843709206003612,
        0.00012196793553354013
      ]
    ],
    "position_light": [
      532.49115,
      204.029327,
      147.818634
    ],
    "rotation_matrix_light": [
      [
        0.3150215722861933,
        0.7233305742652795,
        0.6144544648119957
      ],
      [
        0.24534600313913127,
        0.5633468097638141,
        -0.7889522866894974
      ],
      [
        -0.9168242730959889,
        0.3992909368643301,
        1.3240988894214212e-07
      ]
    ],
    "servo_angle": [
      [
        150.95295,
        45.855932,
        -100.183447,
        252.770014,
        66.244292,
        -207.351192,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -42.034991,
        0.861958,
        -42.82235,
        -166.4722,
        48.746562,
        15.005421,
        0.0
      ]
    ],
    "turn_angle": 582.4211431415877,
    "filename": "scan-0202_light-20_camera-202.png"
  },
  {
    "id": 203,
    "scan_id": "0203",
    "camera_id": 203,
    "light_id": 20,
    "position": [
      -301.643097,
      -136.381149,
      173.782959
    ],
    "rotation_matrix": [
      [
        0.49606966070728,
        0.86828271834442,
        -0.00011291673040220163
      ],
      [
        -6.300462217384561e-05,
        0.00016604201272280017,
        0.9999999842302334
      ],
      [
        0.8682827234007255,
        -0.4960696457701015,
        0.00013707422952385917
      ]
    ],
    "position_light": [
      532.49115,
      204.029327,
      147.818634
    ],
    "rotation_matrix_light": [
      [
        0.3150215722861933,
        0.7233305742652795,
        0.6144544648119957
      ],
      [
        0.24534600313913127,
        0.5633468097638141,
        -0.7889522866894974
      ],
      [
        -0.9168242730959889,
        0.3992909368643301,
        1.3240988894214212e-07
      ]
    ],
    "servo_angle": [
      [
        149.445441,
        35.836276,
        -93.116872,
        252.989514,
        64.174482,
        -202.899825,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -42.034991,
        0.861958,
        -42.82235,
        -166.4722,
        48.746562,
        15.005421,
        0.0
      ]
    ],
    "turn_angle": 582.4211431415877,
    "filename": "scan-0203_light-20_camera-203.png"
  },
  {
    "id": 204,
    "scan_id": "0204",
    "camera_id": 204,
    "light_id": 20,
    "position": [
      -294.36972,
      -136.381149,
      187.348602
    ],
    "rotation_matrix": [
      [
        0.5215642774416729,
        0.8532119857705918,
        -0.000108784875416712
      ],
      [
        -6.311119569163415e-05,
        0.00016607996751383247,
        0.9999999842172105
      ],
      [
        0.8532119903715152,
        -0.5215642623443901,
        0.00014046860685423823
      ]
    ],
    "position_light": [
      532.49115,
      204.029327,
      147.818634
    ],
    "rotation_matrix_light": [
      [
        0.3150215722861933,
        0.7233305742652795,
        0.6144544648119957
      ],
      [
        0.24534600313913127,
        0.5633468097638141,
        -0.7889522866894974
      ],
      [
        -0.9168242730959889,
        0.3992909368643301,
        1.3240988894214212e-07
      ]
    ],
    "servo_angle": [
      [
        149.006154,
        33.486518,
        -91.528518,
        253.040508,
        63.594706,
        -201.887237,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -42.034991,
        0.861958,
        -42.82235,
        -166.4722,
        48.746562,
        15.005421,
        0.0
      ]
    ],
    "turn_angle": 582.4211431415877,
    "filename": "scan-0204_light-20_camera-204.png"
  },
  {
    "id": 205,
    "scan_id": "0205",
    "camera_id": 205,
    "light_id": 20,
    "position": [
      -265.257599,
      -136.381149,
      233.810349
    ],
    "rotation_matrix": [
      [
        0.6085439139243415,
        0.7935201925461488,
        -9.405937760015304e-05
      ],
      [
        -6.26750814682886e-05,
        0.00016659930866796957,
        0.9999999841582521
      ],
      [
        0.7935201956456293,
        -0.608543898388763,
        0.00015111693806851845
      ]
    ],
    "position_light": [
      532.49115,
      204.029327,
      147.818634
    ],
    "rotation_matrix_light": [
      [
        0.3150215722861933,
        0.7233305742652795,
        0.6144544648119957
      ],
      [
        0.24534600313913127,
        0.5633468097638141,
        -0.7889522866894974
      ],
      [
        -0.9168242730959889,
        0.3992909368643301,
        1.3240988894214212e-07
      ]
    ],
    "servo_angle": [
      [
        147.14937,
        25.213867,
        -86.137673,
        253.226031,
        61.21842,
        -198.402851,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -42.034991,
        0.861958,
        -42.82235,
        -166.4722,
        48.746562,
        15.005421,
        0.0
      ]
    ],
    "turn_angle": 582.4211431415877,
    "filename": "scan-0205_light-20_camera-205.png"
  },
  {
    "id": 206,
    "scan_id": "0206",
    "camera_id": 206,
    "light_id": 20,
    "position": [
      -250.675018,
      -136.381149,
      253.555603
    ],
    "rotation_matrix": [
      [
        0.6453316202737123,
        0.7639025410651644,
        -8.734466185400525e-05
      ],
      [
        -6.260065204133358e-05,
        0.00016722400281005134,
        0.9999999840586455
      ],
      [
        0.7639025434936472,
        -0.6453316045184194,
        0.00015573573384880524
      ]
    ],
    "position_light": [
      532.49115,
      204.029327,
      147.818634
    ],
    "rotation_matrix_light": [
      [
        0.3150215722861933,
        0.7233305742652795,
        0.6144544648119957
      ],
      [
        0.24534600313913127,
        0.5633468097638141,
        -0.7889522866894974
      ],
      [
        -0.9168242730959889,
        0.3992909368643301,
        1.3240988894214212e-07
      ]
    ],
    "servo_angle": [
      [
        146.153799,
        21.56596,
        -83.859192,
        253.314038,
        59.981347,
        -196.898894,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -42.034991,
        0.861958,
        -42.82235,
        -166.4722,
        48.746562,
        15.005421,
        0.0
      ]
    ],
    "turn_angle": 582.4211431415877,
    "filename": "scan-0206_light-20_camera-206.png"
  },
  {
    "id": 207,
    "scan_id": "0207",
    "camera_id": 207,
    "light_id": 20,
    "position": [
      -242.203156,
      -136.381149,
      264.187286
    ],
    "rotation_matrix": [
      [
        0.6650892499502662,
        0.7467638735494897,
        -8.223110389843358e-05
      ],
      [
        -6.318232911972643e-05,
        0.00016638859334450196,
        0.9999999841614147
      ],
      [
        0.7467638754041239,
        -0.6650892342206405,
        0.0001578455455810701
      ]
    ],
    "position_light": [
      532.49115,
      204.029327,
      147.818634
    ],
    "rotation_matrix_light": [
      [
        0.3150215722861933,
        0.7233305742652795,
        0.6144544648119957
      ],
      [
        0.24534600313913127,
        0.5633468097638141,
        -0.7889522866894974
      ],
      [
        -0.9168242730959889,
        0.3992909368643301,
        1.3240988894214212e-07
      ]
    ],
    "servo_angle": [
      [
        145.553396,
        19.561925,
        -82.633119,
        253.364974,
        59.245097,
        -196.078705,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -42.034991,
        0.861958,
        -42.82235,
        -166.4722,
        48.746562,
        15.005421,
        0.0
      ]
    ],
    "turn_angle": 582.4211431415877,
    "filename": "scan-0207_light-20_camera-207.png"
  },
  {
    "id": 208,
    "scan_id": "0208",
    "camera_id": 208,
    "light_id": 20,
    "position": [
      -203.127472,
      -136.381149,
      306.846863
    ],
    "rotation_matrix": [
      [
        0.7439607972823117,
        0.6682232619803818,
        -6.523316236983767e-05
      ],
      [
        -6.249471350550095e-05,
        0.0001671997737477393,
        0.9999999840693231
      ],
      [
        0.6682232622421029,
        -0.7439607813537846,
        0.00016615049829799
      ]
    ],
    "position_light": [
      532.49115,
      204.029327,
      147.818634
    ],
    "rotation_matrix_light": [
      [
        0.3150215722861933,
        0.7233305742652795,
        0.6144544648119957
      ],
      [
        0.24534600313913127,
        0.5633468097638141,
        -0.7889522866894974
      ],
      [
        -0.9168242730959889,
        0.3992909368643301,
        1.3240988894214212e-07
      ]
    ],
    "servo_angle": [
      [
        142.553217,
        11.181042,
        -77.704135,
        253.606132,
        55.651505,
        -192.665596,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -42.034991,
        0.861958,
        -42.82235,
        -166.4722,
        48.746562,
        15.005421,
        0.0
      ]
    ],
    "turn_angle": 582.4211431415877,
    "filename": "scan-0208_light-20_camera-208.png"
  },
  {
    "id": 209,
    "scan_id": "0209",
    "camera_id": 209,
    "light_id": 20,
    "position": [
      -183.300186,
      -136.381149,
      325.226379
    ],
    "rotation_matrix": [
      [
        0.7777022325806897,
        0.6286328295161913,
        -5.5619035798704086e-05
      ],
      [
        -6.29944491545853e-05,
        0.00016640867888889632,
        0.999999984169925
      ],
      [
        0.6286328288203769,
        -0.7777022167659149,
        0.00016901677990849295
      ]
    ],
    "position_light": [
      532.49115,
      204.029327,
      147.818634
    ],
    "rotation_matrix_light": [
      [
        0.3150215722861933,
        0.7233305742652795,
        0.6144544648119957
      ],
      [
        0.24534600313913127,
        0.5633468097638141,
        -0.7889522866894974
      ],
      [
        -0.9168242730959889,
        0.3992909368643301,
        1.3240988894214212e-07
      ]
    ],
    "servo_angle": [
      [
        140.870039,
        7.368352,
        -75.569695,
        253.735505,
        53.685286,
        -191.099645,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -42.034991,
        0.861958,
        -42.82235,
        -166.4722,
        48.746562,
        15.005421,
        0.0
      ]
    ],
    "turn_angle": 582.4211431415877,
    "filename": "scan-0209_light-20_camera-209.png"
  },
  {
    "id": 210,
    "scan_id": "0210",
    "camera_id": 210,
    "light_id": 21,
    "position": [
      -149.493591,
      -136.381149,
      352.546844
    ],
    "rotation_matrix": [
      [
        0.8275089784672125,
        0.5614524813647075,
        -4.15399020464724e-05
      ],
      [
        -6.28837608948607e-05,
        0.00016666909708923372,
        0.9999999841335223
      ],
      [
        0.5614524793798521,
        -0.8275089627253744,
        0.0001732264178662679
      ]
    ],
    "position_light": [
      108.750862,
      220.901657,
      126.495262
    ],
    "rotation_matrix_light": [
      [
        0.09409059926338131,
        -0.16439928843544552,
        -0.981896039859708
      ],
      [
        -0.4877349122427862,
        0.8521939265635059,
        -0.18942060845588024
      ],
      [
        0.8679064549303569,
        0.49672767739496193,
        1.6472113567589375e-07
      ]
    ],
    "servo_angle": [
      [
        137.715391,
        1.418013,
        -72.378836,
        253.967725,
        50.073475,
        -188.583501,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -93.915059,
        -16.246906,
        -18.240341,
        -101.592866,
        81.440164,
        116.883218,
        0.0
      ]
    ],
    "turn_angle": 596.5188065800544,
    "filename": "scan-0210_light-21_camera-210.png"
  },
  {
    "id": 211,
    "scan_id": "0211",
    "camera_id": 211,
    "light_id": 21,
    "position": [
      -123.436142,
      -136.381149,
      370.655396
    ],
    "rotation_matrix": [
      [
        0.8602293650212871,
        0.5099072843006646,
        -3.118003790086865e-05
      ],
      [
        -6.280287083715308e-05,
        0.00016709883096233114,
        0.9999999840668902
      ],
      [
        0.5099072813864036,
        -0.860229349356962,
        0.00017576696256937918
      ]
    ],
    "position_light": [
      108.750862,
      220.901657,
      126.495262
    ],
    "rotation_matrix_light": [
      [
        0.09409059926338131,
        -0.16439928843544552,
        -0.981896039859708
      ],
      [
        -0.4877349122427862,
        0.8521939265635059,
        -0.18942060845588024
      ],
      [
        0.8679064549303569,
        0.49672767739496193,
        1.6472113567589375e-07
      ]
    ],
    "servo_angle": [
      [
        135.01166,
        -2.747333,
        -70.252131,
        254.15216,
        47.039663,
        -186.716861,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -93.915059,
        -16.246906,
        -18.240341,
        -101.592866,
        81.440164,
        116.883218,
        0.0
      ]
    ],
    "turn_angle": 596.5188065800544,
    "filename": "scan-0211_light-21_camera-211.png"
  },
  {
    "id": 212,
    "scan_id": "0212",
    "camera_id": 212,
    "light_id": 21,
    "position": [
      -103.098885,
      -136.381149,
      383.23056
    ],
    "rotation_matrix": [
      [
        0.8827710988597528,
        0.46980334873607754,
        -2.311519001874096e-05
      ],
      [
        -6.267674280219238e-05,
        0.0001669728557248118,
        0.9999999840958456
      ],
      [
        0.46980334512386185,
        -0.8827710833712401,
        0.00017684455498429008
      ]
    ],
    "position_light": [
      108.750862,
      220.901657,
      126.495262
    ],
    "rotation_matrix_light": [
      [
        0.09409059926338131,
        -0.16439928843544552,
        -0.981896039859708
      ],
      [
        -0.4877349122427862,
        0.8521939265635059,
        -0.18942060845588024
      ],
      [
        0.8679064549303569,
        0.49672767739496193,
        1.6472113567589375e-07
      ]
    ],
    "servo_angle": [
      [
        132.720173,
        -5.76132,
        -68.77264,
        254.292993,
        44.50507,
        -185.270773,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -93.915059,
        -16.246906,
        -18.240341,
        -101.592866,
        81.440164,
        116.883218,
        0.0
      ]
    ],
    "turn_angle": 596.5188065800544,
    "filename": "scan-0212_light-21_camera-212.png"
  },
  {
    "id": 213,
    "scan_id": "0213",
    "camera_id": 213,
    "light_id": 21,
    "position": [
      -82.564804,
      -136.381149,
      394.667236
    ],
    "rotation_matrix": [
      [
        0.9031089580860472,
        0.4294114688968899,
        -1.4302093603146826e-05
      ],
      [
        -6.322228386784756e-05,
        0.00016627106973182704,
        0.999999984178437
      ],
      [
        0.4294114644809537,
        -0.9031089428932408,
        0.00017730926632802957
      ]
    ],
    "position_light": [
      108.750862,
      220.901657,
      126.495262
    ],
    "rotation_matrix_light": [
      [
        0.09409059926338131,
        -0.16439928843544552,
        -0.981896039859708
      ],
      [
        -0.4877349122427862,
        0.8521939265635059,
        -0.18942060845588024
      ],
      [
        0.8679064549303569,
        0.49672767739496193,
        1.6472113567589375e-07
      ]
    ],
    "servo_angle": [
      [
        130.233307,
        -8.598836,
        -67.429627,
        254.423914,
        41.786786,
        -183.795407,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -93.915059,
        -16.246906,
        -18.240341,
        -101.592866,
        81.440164,
        116.883218,
        0.0
      ]
    ],
    "turn_angle": 596.5188065800544,
    "filename": "scan-0213_light-21_camera-213.png"
  },
  {
    "id": 214,
    "scan_id": "0214",
    "camera_id": 214,
    "light_id": 21,
    "position": [
      -52.777237,
      -136.381149,
      409.191406
    ],
    "rotation_matrix": [
      [
        0.9286394108142682,
        0.37098361779365824,
        -3.3552113449519805e-06
      ],
      [
        -6.314564843790116e-05,
        0.00016710912848655335,
        0.9999999840435828
      ],
      [
        0.3709836124347754,
        -0.9286393957846434,
        0.00017861012372483165
      ]
    ],
    "position_light": [
      108.750862,
      220.901657,
      126.495262
    ],
    "rotation_matrix_light": [
      [
        0.09409059926338131,
        -0.16439928843544552,
        -0.981896039859708
      ],
      [
        -0.4877349122427862,
        0.8521939265635059,
        -0.18942060845588024
      ],
      [
        0.8679064549303569,
        0.49672767739496193,
        1.6472113567589375e-07
      ]
    ],
    "servo_angle": [
      [
        126.296972,
        -12.346668,
        -65.741235,
        254.567727,
        37.542487,
        -181.575998,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -93.915059,
        -16.246906,
        -18.240341,
        -101.592866,
        81.440164,
        116.883218,
        0.0
      ]
    ],
    "turn_angle": 596.5188065800544,
    "filename": "scan-0214_light-21_camera-214.png"
  },
  {
    "id": 215,
    "scan_id": "0215",
    "camera_id": 215,
    "light_id": 21,
    "position": [
      -6.605125,
      -136.381149,
      427.315308
    ],
    "rotation_matrix": [
      [
        0.9597751582224245,
        0.2807697374429464,
        1.3976368987506094e-05
      ],
      [
        -6.335317687475306e-05,
        0.00016678591154556388,
        0.9999999840844171
      ],
      [
        0.28076973064327093,
        -0.9597751438324909,
        0.00017786462948016224
      ]
    ],
    "position_light": [
      108.750862,
      220.901657,
      126.495262
    ],
    "rotation_matrix_light": [
      [
        0.09409059926338131,
        -0.16439928843544552,
        -0.981896039859708
      ],
      [
        -0.4877349122427862,
        0.8521939265635059,
        -0.18942060845588024
      ],
      [
        0.8679064549303569,
        0.49672767739496193,
        1.6472113567589375e-07
      ]
    ],
    "servo_angle": [
      [
        119.387216,
        -17.257374,
        -63.732215,
        254.536099,
        30.228451,
        -177.739071,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -93.915059,
        -16.246906,
        -18.240341,
        -101.592866,
        81.440164,
        116.883218,
        0.0
      ]
    ],
    "turn_angle": 596.5188065800544,
    "filename": "scan-0215_light-21_camera-215.png"
  },
  {
    "id": 216,
    "scan_id": "0216",
    "camera_id": 216,
    "light_id": 21,
    "position": [
      15.186237,
      -136.381149,
      434.159912
    ],
    "rotation_matrix": [
      [
        0.9711842148890653,
        0.2383300658463518,
        2.1540257315308398e-05
      ],
      [
        -6.312314889642123e-05,
        0.00016684403072902976,
        0.9999999840892683
      ],
      [
        0.23833005846048277,
        -0.9711842007965031,
        0.00017708043322534062
      ]
    ],
    "position_light": [
      108.750862,
      220.901657,
      126.495262
    ],
    "rotation_matrix_light": [
      [
        0.09409059926338131,
        -0.16439928843544552,
        -0.981896039859708
      ],
      [
        -0.4877349122427862,
        0.8521939265635059,
        -0.18942060845588024
      ],
      [
        0.8679064549303569,
        0.49672767739496193,
        1.6472113567589375e-07
      ]
    ],
    "servo_angle": [
      [
        115.78589,
        -19.168188,
        -63.055896,
        254.304968,
        26.470077,
        -175.632363,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -93.915059,
        -16.246906,
        -18.240341,
        -101.592866,
        81.440164,
        116.883218,
        0.0
      ]
    ],
    "turn_angle": 596.5188065800544,
    "filename": "scan-0216_light-21_camera-216.png"
  },
  {
    "id": 217,
    "scan_id": "0217",
    "camera_id": 217,
    "light_id": 21,
    "position": [
      64.252068,
      -136.381149,
      445.846313
    ],
    "rotation_matrix": [
      [
        0.9897125177316937,
        0.1430703698946935,
        3.877353814464579e-05
      ],
      [
        -6.334281230344074e-05,
        0.0001671739350194157,
        0.9999999840202816
      ],
      [
        0.1430703611265443,
        -0.9897125043723913,
        0.00017451661571366017
      ]
    ],
    "position_light": [
      108.750862,
      220.901657,
      126.495262
    ],
    "rotation_matrix_light": [
      [
        0.09409059926338131,
        -0.16439928843544552,
        -0.981896039859708
      ],
      [
        -0.4877349122427862,
        0.8521939265635059,
        -0.18942060845588024
      ],
      [
        0.8679064549303569,
        0.49672767739496193,
        1.6472113567589375e-07
      ]
    ],
    "servo_angle": [
      [
        106.992477,
        -22.407233,
        -62.296154,
        252.648662,
        17.401129,
        -169.541535,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -93.915059,
        -16.246906,
        -18.240341,
        -101.592866,
        81.440164,
        116.883218,
        0.0
      ]
    ],
    "turn_angle": 596.5188065800544,
    "filename": "scan-0217_light-21_camera-217.png"
  },
  {
    "id": 218,
    "scan_id": "0218",
    "camera_id": 218,
    "light_id": 21,
    "position": [
      97.485611,
      -136.381149,
      450.968597
    ],
    "rotation_matrix": [
      [
        0.9968926325321903,
        0.07877230959918821,
        4.943125449386604e-05
      ],
      [
        -6.281060208598865e-05,
        0.0001673706512798634,
        0.9999999840209464
      ],
      [
        0.07877230006714,
        -0.9968926197075965,
        0.00017179830535668517
      ]
    ],
    "position_light": [
      108.750862,
      220.901657,
      126.495262
    ],
    "rotation_matrix_light": [
      [
        0.09409059926338131,
        -0.16439928843544552,
        -0.981896039859708
      ],
      [
        -0.4877349122427862,
        0.8521939265635059,
        -0.18942060845588024
      ],
      [
        0.8679064549303569,
        0.49672767739496193,
        1.6472113567589375e-07
      ]
    ],
    "servo_angle": [
      [
        100.725236,
        -23.67135,
        -62.589451,
        249.661489,
        10.985549,
        -163.383442,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -93.915059,
        -16.246906,
        -18.240341,
        -101.592866,
        81.440164,
        116.883218,
        0.0
      ]
    ],
    "turn_angle": 596.5188065800544,
    "filename": "scan-0218_light-21_camera-218.png"
  },
  {
    "id": 219,
    "scan_id": "0219",
    "camera_id": 219,
    "light_id": 21,
    "position": [
      114.281944,
      -136.381149,
      452.727264
    ],
    "rotation_matrix": [
      [
        0.9989256120504134,
        0.04634240555107069,
        5.5113038633310824e-05
      ],
      [
        -6.293869277841299e-05,
        0.00016740681372051647,
        0.9999999840068398
      ],
      [
        0.04634239558361099,
        -0.9989255995431786,
        0.00017014368428280857
      ]
    ],
    "position_light": [
      108.750862,
      220.901657,
      126.495262
    ],
    "rotation_matrix_light": [
      [
        0.09409059926338131,
        -0.16439928843544552,
        -0.981896039859708
      ],
      [
        -0.4877349122427862,
        0.8521939265635059,
        -0.18942060845588024
      ],
      [
        0.8679064549303569,
        0.49672767739496193,
        1.6472113567589375e-07
      ]
    ],
    "servo_angle": [
      [
        97.599751,
        -23.993582,
        -63.104712,
        247.008752,
        7.771657,
        -159.075315,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -93.915059,
        -16.246906,
        -18.240341,
        -101.592866,
        81.440164,
        116.883218,
        0.0
      ]
    ],
    "turn_angle": 596.5188065800544,
    "filename": "scan-0219_light-21_camera-219.png"
  },
  {
    "id": 220,
    "scan_id": "0220",
    "camera_id": 220,
    "light_id": 22,
    "position": [
      129.204971,
      -136.381149,
      453.828796
    ],
    "rotation_matrix": [
      [
        0.9998456847503613,
        0.017567102212322896,
        6.004950002693604e-05
      ],
      [
        -6.299666323417337e-05,
        0.00016721271297748252,
        0.9999999840356641
      ],
      [
        0.017567091890835967,
        -0.9998456725714073,
        0.00016829357832792713
      ]
    ],
    "position_light": [
      489.273529,
      204.810074,
      185.826401
    ],
    "rotation_matrix_light": [
      [
        0.3605529834236316,
        0.6596264266281511,
        0.6594653314906664
      ],
      [
        0.3162977116310698,
        0.5786624932160961,
        -0.7517349776097159
      ],
      [
        -0.8774721099620584,
        0.47962766417160274,
        1.5905055650300426e-07
      ]
    ],
    "servo_angle": [
      [
        94.951253,
        -24.089667,
        -63.846234,
        243.598736,
        5.007823,
        -154.160655,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -46.66472,
        -9.34689,
        -38.958323,
        -176.922664,
        41.708978,
        26.810357,
        0.0
      ]
    ],
    "turn_angle": 635.1302204378844,
    "filename": "scan-0220_light-22_camera-220.png"
  },
  {
    "id": 221,
    "scan_id": "0221",
    "camera_id": 221,
    "light_id": 22,
    "position": [
      155.100418,
      -136.381149,
      454.718811
    ],
    "rotation_matrix": [
      [
        0.9994787211031689,
        -0.032284383083060454,
        6.834412663485681e-05
      ],
      [
        -6.297354218093992e-05,
        0.00016736916192117146,
        0.999999984010948
      ],
      [
        -0.032284394005562975,
        -0.9994787094263237,
        0.00016524885394919586
      ]
    ],
    "position_light": [
      489.273529,
      204.810074,
      185.826401
    ],
    "rotation_matrix_light": [
      [
        0.3605529834236316,
        0.6596264266281511,
        0.6594653314906664
      ],
      [
        0.3162977116310698,
        0.5786624932160961,
        -0.7517349776097159
      ],
      [
        -0.8774721099620584,
        0.47962766417160274,
        1.5905055650300426e-07
      ]
    ],
    "servo_angle": [
      [
        91.052619,
        -23.825476,
        -65.946869,
        233.973733,
        0.67397,
        -141.832207,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -46.66472,
        -9.34689,
        -38.958323,
        -176.922664,
        41.708978,
        26.810357,
        0.0
      ]
    ],
    "turn_angle": 635.1302204378844,
    "filename": "scan-0221_light-22_camera-221.png"
  },
  {
    "id": 222,
    "scan_id": "0222",
    "camera_id": 222,
    "light_id": 22,
    "position": [
      208.089096,
      -136.381149,
      452.512421
    ],
    "rotation_matrix": [
      [
        0.9909852555110202,
        -0.13397095307318574,
        8.421650965116656e-05
      ],
      [
        -6.243839960867748e-05,
        0.00016675984169434166,
        0.9999999841463009
      ],
      [
        -0.13397096499318234,
        -0.990985245058582,
        0.00015689161242649075
      ]
    ],
    "position_light": [
      489.273529,
      204.810074,
      185.826401
    ],
    "rotation_matrix_light": [
      [
        0.3605529834236316,
        0.6596264266281511,
        0.6594653314906664
      ],
      [
        0.3162977116310698,
        0.5786624932160961,
        -0.7517349776097159
      ],
      [
        -0.8774721099620584,
        0.47962766417160274,
        1.5905055650300426e-07
      ]
    ],
    "servo_angle": [
      [
        89.710007,
        -22.591955,
        -71.205648,
        192.560687,
        -3.900467,
        -94.637387,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -46.66472,
        -9.34689,
        -38.958323,
        -176.922664,
        41.708978,
        26.810357,
        0.0
      ]
    ],
    "turn_angle": 635.1302204378844,
    "filename": "scan-0222_light-22_camera-222.png"
  },
  {
    "id": 223,
    "scan_id": "0223",
    "camera_id": 223,
    "light_id": 22,
    "position": [
      235.293686,
      -136.381149,
      449.259216
    ],
    "rotation_matrix": [
      [
        0.9825483533261596,
        -0.18600732444357218,
        9.28945428063932e-05
      ],
      [
        -6.288429701431508e-05,
        0.000167238999513597,
        0.9999999840383412
      ],
      [
        -0.1860073370101771,
        -0.9825483434846659,
        0.0001526234637468371
      ]
    ],
    "position_light": [
      489.273529,
      204.810074,
      185.826401
    ],
    "rotation_matrix_light": [
      [
        0.3605529834236316,
        0.6596264266281511,
        0.6594653314906664
      ],
      [
        0.3162977116310698,
        0.5786624932160961,
        -0.7517349776097159
      ],
      [
        -0.8774721099620584,
        0.47962766417160274,
        1.5905055650300426e-07
      ]
    ],
    "servo_angle": [
      [
        91.235622,
        -22.871845,
        -70.086088,
        166.392158,
        -3.17665,
        -65.478877,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -46.66472,
        -9.34689,
        -38.958323,
        -176.922664,
        41.708978,
        26.810357,
        0.0
      ]
    ],
    "turn_angle": 635.1302204378844,
    "filename": "scan-0223_light-22_camera-223.png"
  },
  {
    "id": 224,
    "scan_id": "0224",
    "camera_id": 224,
    "light_id": 22,
    "position": [
      260.013458,
      -136.381149,
      445.028412
    ],
    "rotation_matrix": [
      [
        0.9724318514861837,
        -0.23318722973456477,
        0.00010051801801808091
      ],
      [
        -6.320424036126981e-05,
        0.00016748858835702318,
        0.9999999839763982
      ],
      [
        -0.23318724283368641,
        -0.972431842257488,
        0.00014813281636150144
      ]
    ],
    "position_light": [
      489.273529,
      204.810074,
      185.826401
    ],
    "rotation_matrix_light": [
      [
        0.3605529834236316,
        0.6596264266281511,
        0.6594653314906664
      ],
      [
        0.3162977116310698,
        0.5786624932160961,
        -0.7517349776097159
      ],
      [
        -0.8774721099620584,
        0.47962766417160274,
        1.5905055650300426e-07
      ]
    ],
    "servo_angle": [
      [
        90.838219,
        -23.629352,
        -66.884056,
        147.410238,
        -0.825059,
        -43.663853,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -46.66472,
        -9.34689,
        -38.958323,
        -176.922664,
        41.708978,
        26.810357,
        0.0
      ]
    ],
    "turn_angle": 635.1302204378844,
    "filename": "scan-0224_light-22_camera-224.png"
  },
  {
    "id": 225,
    "scan_id": "0225",
    "camera_id": 225,
    "light_id": 22,
    "position": [
      309.370941,
      -136.381149,
      432.815216
    ],
    "rotation_matrix": [
      [
        0.9449930362783228,
        -0.3270904282701821,
        0.00011454040958722156
      ],
      [
        -6.331754803814982e-05,
        0.0001672496687680214,
        0.9999999840092182
      ],
      [
        -0.327090442196596,
        -0.9449930284195631,
        0.00013733920840086622
      ]
    ],
    "position_light": [
      489.273529,
      204.810074,
      185.826401
    ],
    "rotation_matrix_light": [
      [
        0.3605529834236316,
        0.6596264266281511,
        0.6594653314906664
      ],
      [
        0.3162977116310698,
        0.5786624932160961,
        -0.7517349776097159
      ],
      [
        -0.8774721099620584,
        0.47962766417160274,
        1.5905055650300426e-07
      ]
    ],
    "servo_angle": [
      [
        84.507207,
        -24.512223,
        -60.957897,
        127.254671,
        7.219326,
        -17.977066,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -46.66472,
        -9.34689,
        -38.958323,
        -176.922664,
        41.708978,
        26.810357,
        0.0
      ]
    ],
    "turn_angle": 635.1302204378844,
    "filename": "scan-0225_light-22_camera-225.png"
  },
  {
    "id": 226,
    "scan_id": "0226",
    "camera_id": 226,
    "light_id": 22,
    "position": [
      325.343689,
      -136.381149,
      427.740417
    ],
    "rotation_matrix": [
      [
        0.9339558868542726,
        -0.3573882866474105,
        0.00011822638114314388
      ],
      [
        -6.257802381734456e-05,
        0.0001672725933088981,
        0.9999999840519348
      ],
      [
        -0.35738830072379224,
        -0.9339558793578567,
        0.00013386057051639755
      ]
    ],
    "position_light": [
      489.273529,
      204.810074,
      185.826401
    ],
    "rotation_matrix_light": [
      [
        0.3605529834236316,
        0.6596264266281511,
        0.6594653314906664
      ],
      [
        0.3162977116310698,
        0.5786624932160961,
        -0.7517349776097159
      ],
      [
        -0.8774721099620584,
        0.47962766417160274,
        1.5905055650300426e-07
      ]
    ],
    "servo_angle": [
      [
        81.687968,
        -24.392475,
        -59.662725,
        124.125519,
        10.319371,
        -13.162617,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -46.66472,
        -9.34689,
        -38.958323,
        -176.922664,
        41.708978,
        26.810357,
        0.0
      ]
    ],
    "turn_angle": 635.1302204378844,
    "filename": "scan-0226_light-22_camera-226.png"
  },
  {
    "id": 227,
    "scan_id": "0227",
    "camera_id": 227,
    "light_id": 22,
    "position": [
      361.132019,
      -136.381149,
      414.246887
    ],
    "rotation_matrix": [
      [
        0.9051448405143085,
        -0.4251032832941143,
        0.00012736911427221886
      ],
      [
        -6.24485361860605e-05,
        0.00016665159906487093,
        0.9999999841637124
      ],
      [
        -0.4251032977883229,
        -0.9051448341341892,
        0.00012429675728736767
      ]
    ],
    "position_light": [
      489.273529,
      204.810074,
      185.826401
    ],
    "rotation_matrix_light": [
      [
        0.3605529834236316,
        0.6596264266281511,
        0.6594653314906664
      ],
      [
        0.3162977116310698,
        0.5786624932160961,
        -0.7517349776097159
      ],
      [
        -0.8774721099620584,
        0.47962766417160274,
        1.5905055650300426e-07
      ]
    ],
    "servo_angle": [
      [
        75.040282,
        -23.340467,
        -57.636632,
        120.081182,
        17.539728,
        -5.533111,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -46.66472,
        -9.34689,
        -38.958323,
        -176.922664,
        41.708978,
        26.810357,
        0.0
      ]
    ],
    "turn_angle": 635.1302204378844,
    "filename": "scan-0227_light-22_camera-227.png"
  },
  {
    "id": 228,
    "scan_id": "0228",
    "camera_id": 228,
    "light_id": 22,
    "position": [
      385.48822,
      -136.381149,
      403.280579
    ],
    "rotation_matrix": [
      [
        0.8821092133146057,
        -0.471044921299878,
        0.0001338023895131879
      ],
      [
        -6.262974893245232e-05,
        0.00016676988812958093,
        0.9999999841326596
      ],
      [
        -0.4710449361398573,
        -0.8821092076978884,
        0.00011760782966563355
      ]
    ],
    "position_light": [
      489.273529,
      204.810074,
      185.826401
    ],
    "rotation_matrix_light": [
      [
        0.3605529834236316,
        0.6596264266281511,
        0.6594653314906664
      ],
      [
        0.3162977116310698,
        0.5786624932160961,
        -0.7517349776097159
      ],
      [
        -0.8774721099620584,
        0.47962766417160274,
        1.5905055650300426e-07
      ]
    ],
    "servo_angle": [
      [
        70.531276,
        -22.01344,
        -56.794613,
        118.719548,
        22.476046,
        -1.88125,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -46.66472,
        -9.34689,
        -38.958323,
        -176.922664,
        41.708978,
        26.810357,
        0.0
      ]
    ],
    "turn_angle": 635.1302204378844,
    "filename": "scan-0228_light-22_camera-228.png"
  },
  {
    "id": 229,
    "scan_id": "0229",
    "camera_id": 229,
    "light_id": 22,
    "position": [
      433.397034,
      -136.381149,
      377.024567
    ],
    "rotation_matrix": [
      [
        0.8277912865506782,
        -0.561036152730606,
        0.00014573954027524705
      ],
      [
        -6.29052139478059e-05,
        0.0001669538576351548,
        0.9999999840846718
      ],
      [
        -0.5610361681333098,
        -0.8277912825438849,
        0.00010291084938646167
      ]
    ],
    "position_light": [
      489.273529,
      204.810074,
      185.826401
    ],
    "rotation_matrix_light": [
      [
        0.3605529834236316,
        0.6596264266281511,
        0.6594653314906664
      ],
      [
        0.3162977116310698,
        0.5786624932160961,
        -0.7517349776097159
      ],
      [
        -0.8774721099620584,
        0.47962766417160274,
        1.5905055650300426e-07
      ]
    ],
    "servo_angle": [
      [
        62.16764,
        -17.994484,
        -56.121617,
        117.663243,
        31.867454,
        3.328942,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -46.66472,
        -9.34689,
        -38.958323,
        -176.922664,
        41.708978,
        26.810357,
        0.0
      ]
    ],
    "turn_angle": 635.1302204378844,
    "filename": "scan-0229_light-22_camera-229.png"
  },
  {
    "id": 230,
    "scan_id": "0230",
    "camera_id": 230,
    "light_id": 23,
    "position": [
      456.784088,
      -136.381149,
      361.674164
    ],
    "rotation_matrix": [
      [
        0.7964056460320755,
        -0.6047627833450395,
        0.00015115883352090353
      ],
      [
        -6.291095072047392e-05,
        0.00016710055172608484,
        0.9999999840598088
      ],
      [
        -0.6047627989637296,
        -0.7964056428467632,
        9.503362118912229e-05
      ]
    ],
    "position_light": [
      400.285156,
      211.702972,
      163.533585
    ],
    "rotation_matrix_light": [
      [
        0.31445669275421806,
        0.5573332763964991,
        0.7684377706771205
      ],
      [
        0.37760743665412005,
        0.6692602118658737,
        -0.6399245210153698
      ],
      [
        -0.8709360551530657,
        0.4913963653044143,
        1.6295320581782846e-07
      ]
    ],
    "servo_angle": [
      [
        58.421985,
        -15.363176,
        -56.214895,
        117.568648,
        36.217923,
        5.29287,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.278288,
        -19.051019,
        -24.79005,
        -204.683099,
        49.04364,
        46.711989,
        0.0
      ]
    ],
    "turn_angle": 656.6498874064991,
    "filename": "scan-0230_light-23_camera-230.png"
  },
  {
    "id": 231,
    "scan_id": "0231",
    "camera_id": 231,
    "light_id": 23,
    "position": [
      492.126648,
      -136.381149,
      334.779327
    ],
    "rotation_matrix": [
      [
        0.7418683068692263,
        -0.67054559128397,
        0.00015897364170408546
      ],
      [
        -6.305697721292747e-05,
        0.00016731698440775045,
        0.9999999840144221
      ],
      [
        -0.6705456071639013,
        -0.74186830503443,
        8.18445898631559e-05
      ]
    ],
    "position_light": [
      400.285156,
      211.702972,
      163.533585
    ],
    "rotation_matrix_light": [
      [
        0.31445669275421806,
        0.5573332763964991,
        0.7684377706771205
      ],
      [
        0.37760743665412005,
        0.6692602118658737,
        -0.6399245210153698
      ],
      [
        -0.8709360551530657,
        0.4913963653044143,
        1.6295320581782846e-07
      ]
    ],
    "servo_angle": [
      [
        53.230014,
        -10.545918,
        -56.867665,
        117.678083,
        42.457662,
        7.848147,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.278288,
        -19.051019,
        -24.79005,
        -204.683099,
        49.04364,
        46.711989,
        0.0
      ]
    ],
    "turn_angle": 656.6498874064991,
    "filename": "scan-0231_light-23_camera-231.png"
  },
  {
    "id": 232,
    "scan_id": "0232",
    "camera_id": 232,
    "light_id": 23,
    "position": [
      499.829865,
      -136.381149,
      328.252228
    ],
    "rotation_matrix": [
      [
        0.7287024487871983,
        -0.6848304282618612,
        0.00016018182465959985
      ],
      [
        -6.266285238698543e-05,
        0.00016722278011765956,
        0.9999999840549545
      ],
      [
        -0.6848304441282588,
        -0.7287024472054544,
        7.894222132848183e-05
      ]
    ],
    "position_light": [
      400.285156,
      211.702972,
      163.533585
    ],
    "rotation_matrix_light": [
      [
        0.31445669275421806,
        0.5573332763964991,
        0.7684377706771205
      ],
      [
        0.37760743665412005,
        0.6692602118658737,
        -0.6399245210153698
      ],
      [
        -0.8709360551530657,
        0.4913963653044143,
        1.6295320581782846e-07
      ]
    ],
    "servo_angle": [
      [
        52.17348,
        -9.357833,
        -57.094328,
        117.72644,
        43.764178,
        8.361001,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.278288,
        -19.051019,
        -24.79005,
        -204.683099,
        49.04364,
        46.711989,
        0.0
      ]
    ],
    "turn_angle": 656.6498874064991,
    "filename": "scan-0232_light-23_camera-232.png"
  },
  {
    "id": 233,
    "scan_id": "0233",
    "camera_id": 233,
    "light_id": 23,
    "position": [
      520.175354,
      -136.381149,
      309.707062
    ],
    "rotation_matrix": [
      [
        0.6914197002567816,
        -0.7224533003120414,
        0.00016421041786152113
      ],
      [
        -6.292020734732784e-05,
        0.0001670781271095878,
        0.9999999840629731
      ],
      [
        -0.7224533162342529,
        -0.6914196995697609,
        7.006419711119705e-05
      ]
    ],
    "position_light": [
      400.285156,
      211.702972,
      163.533585
    ],
    "rotation_matrix_light": [
      [
        0.31445669275421806,
        0.5573332763964991,
        0.7684377706771205
      ],
      [
        0.37760743665412005,
        0.6692602118658737,
        -0.6399245210153698
      ],
      [
        -0.8709360551530657,
        0.4913963653044143,
        1.6295320581782846e-07
      ]
    ],
    "servo_angle": [
      [
        49.509168,
        -5.970278,
        -57.847652,
        117.878561,
        47.12681,
        9.670783,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.278288,
        -19.051019,
        -24.79005,
        -204.683099,
        49.04364,
        46.711989,
        0.0
      ]
    ],
    "turn_angle": 656.6498874064991,
    "filename": "scan-0233_light-23_camera-233.png"
  },
  {
    "id": 234,
    "scan_id": "0234",
    "camera_id": 234,
    "light_id": 23,
    "position": [
      558.745239,
      -136.381149,
      268.367523
    ],
    "rotation_matrix": [
      [
        0.6088557170154899,
        -0.7932809632943764,
        0.00017068186754981562
      ],
      [
        -6.270719465450991e-05,
        0.00016703064487988417,
        0.9999999840842855
      ],
      [
        -0.7932809791778455,
        -0.6088557180280973,
        5.195313927086609e-05
      ]
    ],
    "position_light": [
      400.285156,
      211.702972,
      163.533585
    ],
    "rotation_matrix_light": [
      [
        0.31445669275421806,
        0.5573332763964991,
        0.7684377706771205
      ],
      [
        0.37760743665412005,
        0.6692602118658737,
        -0.6399245210153698
      ],
      [
        -0.8709360551530657,
        0.4913963653044143,
        1.6295320581782846e-07
      ]
    ],
    "servo_angle": [
      [
        44.935934,
        1.543835,
        -59.964617,
        118.220158,
        53.184922,
        12.099092,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.278288,
        -19.051019,
        -24.79005,
        -204.683099,
        49.04364,
        46.711989,
        0.0
      ]
    ],
    "turn_angle": 656.6498874064991,
    "filename": "scan-0234_light-23_camera-234.png"
  },
  {
    "id": 235,
    "scan_id": "0235",
    "camera_id": 235,
    "light_id": 23,
    "position": [
      570.647644,
      -136.381149,
      253.590881
    ],
    "rotation_matrix": [
      [
        0.5794945205562322,
        -0.8149761166893101,
        0.00017283319836353117
      ],
      [
        -6.31624759444005e-05,
        0.00016715936099198636,
        0.9999999840341246
      ],
      [
        -0.8149761325681901,
        -0.5794945222206677,
        4.5392024388912766e-05
      ]
    ],
    "position_light": [
      400.285156,
      211.702972,
      163.533585
    ],
    "rotation_matrix_light": [
      [
        0.31445669275421806,
        0.5573332763964991,
        0.7684377706771205
      ],
      [
        0.37760743665412005,
        0.6692602118658737,
        -0.6399245210153698
      ],
      [
        -0.8709360551530657,
        0.4913963653044143,
        1.6295320581782846e-07
      ]
    ],
    "servo_angle": [
      [
        43.64231,
        4.195541,
        -60.83133,
        118.332114,
        54.984296,
        12.871497,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.278288,
        -19.051019,
        -24.79005,
        -204.683099,
        49.04364,
        46.711989,
        0.0
      ]
    ],
    "turn_angle": 656.6498874064991,
    "filename": "scan-0235_light-23_camera-235.png"
  },
  {
    "id": 236,
    "scan_id": "0236",
    "camera_id": 236,
    "light_id": 23,
    "position": [
      599.070374,
      -136.381149,
      213.116623
    ],
    "rotation_matrix": [
      [
        0.4994079912273788,
        -0.8663669125350715,
        0.00017652955076452592
      ],
      [
        -6.292306934968517e-05,
        0.00016748707986624645,
        0.9999999839943827
      ],
      [
        -0.8663669282347531,
        -0.49940799434182664,
        2.9129920792736463e-05
      ]
    ],
    "position_light": [
      400.285156,
      211.702972,
      163.533585
    ],
    "rotation_matrix_light": [
      [
        0.31445669275421806,
        0.5573332763964991,
        0.7684377706771205
      ],
      [
        0.37760743665412005,
        0.6692602118658737,
        -0.6399245210153698
      ],
      [
        -0.8709360551530657,
        0.4913963653044143,
        1.6295320581782846e-07
      ]
    ],
    "servo_angle": [
      [
        40.756551,
        11.335512,
        -63.424709,
        118.60828,
        59.192098,
        14.862239,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.278288,
        -19.051019,
        -24.79005,
        -204.683099,
        49.04364,
        46.711989,
        0.0
      ]
    ],
    "turn_angle": 656.6498874064991,
    "filename": "scan-0236_light-23_camera-236.png"
  },
  {
    "id": 237,
    "scan_id": "0237",
    "camera_id": 237,
    "light_id": 23,
    "position": [
      617.231445,
      -136.381149,
      182.125488
    ],
    "rotation_matrix": [
      [
        0.4383744836171939,
        -0.8987924012959048,
        0.00017744322843138427
      ],
      [
        -6.268528326652811e-05,
        0.00016685009432015896,
        0.9999999841158003
      ],
      [
        -0.8987924166257265,
        -0.4383744877770451,
        1.680176766605257e-05
      ]
    ],
    "position_light": [
      400.285156,
      211.702972,
      163.533585
    ],
    "rotation_matrix_light": [
      [
        0.31445669275421806,
        0.5573332763964991,
        0.7684377706771205
      ],
      [
        0.37760743665412005,
        0.6692602118658737,
        -0.6399245210153698
      ],
      [
        -0.8709360551530657,
        0.4913963653044143,
        1.6295320581782846e-07
      ]
    ],
    "servo_angle": [
      [
        39.049251,
        16.674619,
        -65.586536,
        118.797699,
        61.855034,
        16.327865,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.278288,
        -19.051019,
        -24.79005,
        -204.683099,
        49.04364,
        46.711989,
        0.0
      ]
    ],
    "turn_angle": 656.6498874064991,
    "filename": "scan-0237_light-23_camera-237.png"
  },
  {
    "id": 238,
    "scan_id": "0238",
    "camera_id": 238,
    "light_id": 23,
    "position": [
      633.5401,
      -136.381149,
      149.222794
    ],
    "rotation_matrix": [
      [
        0.3738145329487963,
        -0.927503457184907,
        0.00017851139797719906
      ],
      [
        -6.280285840581934e-05,
        0.00016715277204359946,
        0.9999999840578759
      ],
      [
        -0.9275034722372066,
        -0.3738145382004247,
        4.2342671201511806e-06
      ]
    ],
    "position_light": [
      400.285156,
      211.702972,
      163.533585
    ],
    "rotation_matrix_light": [
      [
        0.31445669275421806,
        0.5573332763964991,
        0.7684377706771205
      ],
      [
        0.37760743665412005,
        0.6692602118658737,
        -0.6399245210153698
      ],
      [
        -0.8709360551530657,
        0.4913963653044143,
        1.6295320581782846e-07
      ]
    ],
    "servo_angle": [
      [
        37.595657,
        22.22658,
        -68.018169,
        118.989583,
        64.278359,
        17.875023,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.278288,
        -19.051019,
        -24.79005,
        -204.683099,
        49.04364,
        46.711989,
        0.0
      ]
    ],
    "turn_angle": 656.6498874064991,
    "filename": "scan-0238_light-23_camera-238.png"
  },
  {
    "id": 239,
    "scan_id": "0239",
    "camera_id": 239,
    "light_id": 23,
    "position": [
      646.362366,
      -136.381149,
      118.257477
    ],
    "rotation_matrix": [
      [
        0.3132594716410503,
        -0.9496675584429402,
        0.00017851665171719766
      ],
      [
        -6.296268511657432e-05,
        0.00016720903013189847,
        0.9999999840384202
      ],
      [
        -0.9496675731343418,
        -0.3132594778808219,
        -7.4138070149665225e-06
      ]
    ],
    "position_light": [
      400.285156,
      211.702972,
      163.533585
    ],
    "rotation_matrix_light": [
      [
        0.31445669275421806,
        0.5573332763964991,
        0.7684377706771205
      ],
      [
        0.37760743665412005,
        0.6692602118658737,
        -0.6399245210153698
      ],
      [
        -0.8709360551530657,
        0.4913963653044143,
        1.6295320581782846e-07
      ]
    ],
    "servo_angle": [
      [
        36.497755,
        27.351917,
        -70.419206,
        119.171153,
        66.254548,
        19.347352,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -58.278288,
        -19.051019,
        -24.79005,
        -204.683099,
        49.04364,
        46.711989,
        0.0
      ]
    ],
    "turn_angle": 656.6498874064991,
    "filename": "scan-0239_light-23_camera-239.png"
  },
  {
    "id": 240,
    "scan_id": "0240",
    "camera_id": 240,
    "light_id": 24,
    "position": [
      636.966919,
      -136.381149,
      141.480423
    ],
    "rotation_matrix": [
      [
        0.3586565760553887,
        -0.9334695649708836,
        0.00017811595762418087
      ],
      [
        -6.276639493141278e-05,
        0.00016669464151841673,
        0.9999999841366379
      ],
      [
        -0.9334695798538937,
        -0.3586565815455861,
        1.1956100022803007e-06
      ]
    ],
    "position_light": [
      142.321213,
      189.251236,
      382.009155
    ],
    "rotation_matrix_light": [
      [
        0.08445746264281939,
        -0.057504552109613805,
        -0.9947663863895934
      ],
      [
        -0.8222643953142683,
        0.5598583996772268,
        -0.10217551815046194
      ],
      [
        0.5628038745445857,
        0.8265904661908019,
        2.741077785861634e-07
      ]
    ],
    "servo_angle": [
      [
        37.298693,
        23.516652,
        -68.608717,
        119.034503,
        64.797745,
        18.240914,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.241796,
        -34.159744,
        -42.347311,
        -89.440144,
        88.631873,
        47.969975,
        0.0
      ]
    ],
    "turn_angle": 698.2542043787297,
    "filename": "scan-0240_light-24_camera-240.png"
  },
  {
    "id": 241,
    "scan_id": "0241",
    "camera_id": 241,
    "light_id": 24,
    "position": [
      634.228394,
      -136.381149,
      147.694687
    ],
    "rotation_matrix": [
      [
        0.3708223337210398,
        -0.9287038090250465,
        0.00017865064188921087
      ],
      [
        -6.303796886841795e-05,
        0.0001671951280908246,
        0.9999999840360017
      ],
      [
        -0.9287038240687373,
        -0.37082233906300627,
        3.4560857841148263e-06
      ]
    ],
    "position_light": [
      142.321213,
      189.251236,
      382.009155
    ],
    "rotation_matrix_light": [
      [
        0.08445746264281939,
        -0.057504552109613805,
        -0.9947663863895934
      ],
      [
        -0.8222643953142683,
        0.5598583996772268,
        -0.10217551815046194
      ],
      [
        0.5628038745445857,
        0.8265904661908019,
        2.741077785861634e-07
      ]
    ],
    "servo_angle": [
      [
        37.535783,
        22.481661,
        -68.134193,
        118.998464,
        64.382293,
        17.947158,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.241796,
        -34.159744,
        -42.347311,
        -89.440144,
        88.631873,
        47.969975,
        0.0
      ]
    ],
    "turn_angle": 698.2542043787297,
    "filename": "scan-0241_light-24_camera-241.png"
  },
  {
    "id": 242,
    "scan_id": "0242",
    "camera_id": 242,
    "light_id": 24,
    "position": [
      606.856812,
      -136.381149,
      200.425446
    ],
    "rotation_matrix": [
      [
        0.47438590243371637,
        -0.8803169793517838,
        0.00017730510421726242
      ],
      [
        -6.309052130143433e-05,
        0.00016741225144339955,
        0.9999999839963623
      ],
      [
        -0.8803169949465561,
        -0.47438590602808756,
        2.3878354841577742e-05
      ]
    ],
    "position_light": [
      142.321213,
      189.251236,
      382.009155
    ],
    "rotation_matrix_light": [
      [
        0.08445746264281939,
        -0.057504552109613805,
        -0.9947663863895934
      ],
      [
        -0.8222643953142683,
        0.5598583996772268,
        -0.10217551815046194
      ],
      [
        0.5628038745445857,
        0.8265904661908019,
        2.741077785861634e-07
      ]
    ],
    "servo_angle": [
      [
        40.012336,
        13.535268,
        -64.293542,
        118.68752,
        60.333086,
        15.465449,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.241796,
        -34.159744,
        -42.347311,
        -89.440144,
        88.631873,
        47.969975,
        0.0
      ]
    ],
    "turn_angle": 698.2542043787297,
    "filename": "scan-0242_light-24_camera-242.png"
  },
  {
    "id": 243,
    "scan_id": "0243",
    "camera_id": 243,
    "light_id": 24,
    "position": [
      596.062439,
      -136.381149,
      217.809525
    ],
    "rotation_matrix": [
      [
        0.5086700163192359,
        -0.8609615459146485,
        0.0001759376203042673
      ],
      [
        -6.307795295185104e-05,
        0.00016708267032788937,
        0.9999999840522762
      ],
      [
        -0.8609615615803992,
        -0.5086700193048921,
        3.068225275576486e-05
      ]
    ],
    "position_light": [
      142.321213,
      189.251236,
      382.009155
    ],
    "rotation_matrix_light": [
      [
        0.08445746264281939,
        -0.057504552109613805,
        -0.9947663863895934
      ],
      [
        -0.8222643953142683,
        0.5598583996772268,
        -0.10217551815046194
      ],
      [
        0.5628038745445857,
        0.8265904661908019,
        2.741077785861634e-07
      ]
    ],
    "servo_angle": [
      [
        41.049103,
        10.517328,
        -63.109582,
        118.578257,
        58.750691,
        14.637525,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.241796,
        -34.159744,
        -42.347311,
        -89.440144,
        88.631873,
        47.969975,
        0.0
      ]
    ],
    "turn_angle": 698.2542043787297,
    "filename": "scan-0243_light-24_camera-243.png"
  },
  {
    "id": 244,
    "scan_id": "0244",
    "camera_id": 244,
    "light_id": 24,
    "position": [
      575.868713,
      -136.381149,
      246.744919
    ],
    "rotation_matrix": [
      [
        0.5659147419117596,
        -0.8244637499128745,
        0.0001731084844404096
      ],
      [
        -6.281820064113486e-05,
        0.0001668463118004171,
        0.9999999841080907
      ],
      [
        -0.8244637656930837,
        -0.5659147437926575,
        4.262945821809083e-05
      ]
    ],
    "position_light": [
      142.321213,
      189.251236,
      382.009155
    ],
    "rotation_matrix_light": [
      [
        0.08445746264281939,
        -0.057504552109613805,
        -0.9947663863895934
      ],
      [
        -0.8222643953142683,
        0.5598583996772268,
        -0.10217551815046194
      ],
      [
        0.5628038745445857,
        0.8265904661908019,
        2.741077785861634e-07
      ]
    ],
    "servo_angle": [
      [
        43.091296,
        5.416285,
        -61.24873,
        118.381789,
        55.765352,
        13.218938,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.241796,
        -34.159744,
        -42.347311,
        -89.440144,
        88.631873,
        47.969975,
        0.0
      ]
    ],
    "turn_angle": 698.2542043787297,
    "filename": "scan-0244_light-24_camera-244.png"
  },
  {
    "id": 245,
    "scan_id": "0245",
    "camera_id": 245,
    "light_id": 24,
    "position": [
      552.542725,
      -136.381149,
      275.64917
    ],
    "rotation_matrix": [
      [
        0.6233513335222087,
        -0.7819418687291266,
        0.00017007200012780777
      ],
      [
        -6.29598586494029e-05,
        0.00016730896604316703,
        0.9999999840218828
      ],
      [
        -0.7819418846897384,
        -0.6233513342699372,
        5.5061317565996415e-05
      ]
    ],
    "position_light": [
      142.321213,
      189.251236,
      382.009155
    ],
    "rotation_matrix_light": [
      [
        0.08445746264281939,
        -0.057504552109613805,
        -0.9947663863895934
      ],
      [
        -0.8222643953142683,
        0.5598583996772268,
        -0.10217551815046194
      ],
      [
        0.5628038745445857,
        0.8265904661908019,
        2.741077785861634e-07
      ]
    ],
    "servo_angle": [
      [
        45.631218,
        0.22924,
        -59.556327,
        118.162633,
        52.235531,
        11.704382,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.241796,
        -34.159744,
        -42.347311,
        -89.440144,
        88.631873,
        47.969975,
        0.0
      ]
    ],
    "turn_angle": 698.2542043787297,
    "filename": "scan-0245_light-24_camera-245.png"
  },
  {
    "id": 246,
    "scan_id": "0246",
    "camera_id": 246,
    "light_id": 24,
    "position": [
      538.852417,
      -136.381149,
      290.812439
    ],
    "rotation_matrix": [
      [
        0.6535984700598063,
        -0.7568414707956617,
        0.00016738978436658947
      ],
      [
        -6.274094927966045e-05,
        0.00016698661228370382,
        0.999999984089522
      ],
      [
        -0.7568414867058052,
        -0.6535984701629363,
        6.165724197720879e-05
      ]
    ],
    "position_light": [
      142.321213,
      189.251236,
      382.009155
    ],
    "rotation_matrix_light": [
      [
        0.08445746264281939,
        -0.057504552109613805,
        -0.9947663863895934
      ],
      [
        -0.8222643953142683,
        0.5598583996772268,
        -0.10217551815046194
      ],
      [
        0.5628038745445857,
        0.8265904661908019,
        2.741077785861634e-07
      ]
    ],
    "servo_angle": [
      [
        47.219285,
        -2.522447,
        -58.751264,
        118.038473,
        50.108139,
        10.843455,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.241796,
        -34.159744,
        -42.347311,
        -89.440144,
        88.631873,
        47.969975,
        0.0
      ]
    ],
    "turn_angle": 698.2542043787297,
    "filename": "scan-0246_light-24_camera-246.png"
  },
  {
    "id": 247,
    "scan_id": "0247",
    "camera_id": 247,
    "light_id": 24,
    "position": [
      500.794861,
      -136.381149,
      327.416229
    ],
    "rotation_matrix": [
      [
        0.7270183023943724,
        -0.6866180615784634,
        0.00015968042632286128
      ],
      [
        -6.251802864315481e-05,
        0.00016636421198307216,
        0.9999999842072224
      ],
      [
        -0.6866180772999653,
        -0.7270183008956393,
        7.802381933447178e-05
      ]
    ],
    "position_light": [
      142.321213,
      189.251236,
      382.009155
    ],
    "rotation_matrix_light": [
      [
        0.08445746264281939,
        -0.057504552109613805,
        -0.9947663863895934
      ],
      [
        -0.8222643953142683,
        0.5598583996772268,
        -0.10217551815046194
      ],
      [
        0.5628038745445857,
        0.8265904661908019,
        2.741077785861634e-07
      ]
    ],
    "servo_angle": [
      [
        52.043017,
        -9.205426,
        -57.124923,
        117.732857,
        43.926554,
        8.424485,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.241796,
        -34.159744,
        -42.347311,
        -89.440144,
        88.631873,
        47.969975,
        0.0
      ]
    ],
    "turn_angle": 698.2542043787297,
    "filename": "scan-0247_light-24_camera-247.png"
  },
  {
    "id": 248,
    "scan_id": "0248",
    "camera_id": 248,
    "light_id": 24,
    "position": [
      475.356018,
      -136.381149,
      348.137054
    ],
    "rotation_matrix": [
      [
        0.7688925841834515,
        -0.6393779554654679,
        0.00015508865971441965
      ],
      [
        -6.304578451127307e-05,
        0.0001667452250488921,
        0.9999999841106295
      ],
      [
        -0.639377971166448,
        -0.7688925817439185,
        8.789908218653775e-05
      ]
    ],
    "position_light": [
      142.321213,
      189.251236,
      382.009155
    ],
    "rotation_matrix_light": [
      [
        0.08445746264281939,
        -0.057504552109613805,
        -0.9947663863895934
      ],
      [
        -0.8222643953142683,
        0.5598583996772268,
        -0.10217551815046194
      ],
      [
        0.5628038745445857,
        0.8265904661908019,
        2.741077785861634e-07
      ]
    ],
    "servo_angle": [
      [
        55.6228,
        -12.959675,
        -56.48006,
        117.598728,
        39.547495,
        6.683896,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.241796,
        -34.159744,
        -42.347311,
        -89.440144,
        88.631873,
        47.969975,
        0.0
      ]
    ],
    "turn_angle": 698.2542043787297,
    "filename": "scan-0248_light-24_camera-248.png"
  },
  {
    "id": 249,
    "scan_id": "0249",
    "camera_id": 249,
    "light_id": 24,
    "position": [
      461.645081,
      -136.381149,
      358.251587
    ],
    "rotation_matrix": [
      [
        0.7894364258251287,
        -0.6138323112061217,
        0.00015264271105025484
      ],
      [
        -6.315956627972463e-05,
        0.0001674435256486806,
        0.9999999839867675
      ],
      [
        -0.6138323269357158,
        -0.789436422824547,
        9.341663587136839e-05
      ]
    ],
    "position_light": [
      142.321213,
      189.251236,
      382.009155
    ],
    "rotation_matrix_light": [
      [
        0.08445746264281939,
        -0.057504552109613805,
        -0.9947663863895934
      ],
      [
        -0.8222643953142683,
        0.5598583996772268,
        -0.10217551815046194
      ],
      [
        0.5628038745445857,
        0.8265904661908019,
        2.741077785861634e-07
      ]
    ],
    "servo_angle": [
      [
        57.674218,
        -14.761112,
        -56.267893,
        117.569221,
        37.100278,
        5.669245,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -85.241796,
        -34.159744,
        -42.347311,
        -89.440144,
        88.631873,
        47.969975,
        0.0
      ]
    ],
    "turn_angle": 698.2542043787297,
    "filename": "scan-0249_light-24_camera-249.png"
  },
  {
    "id": 250,
    "scan_id": "0250",
    "camera_id": 250,
    "light_id": 25,
    "position": [
      430.523376,
      -136.381149,
      378.789093
    ],
    "rotation_matrix": [
      [
        0.8314138409707155,
        -0.5556536725635746,
        0.00014563287461116792
      ],
      [
        -6.31804977838657e-05,
        0.00016755712512378507,
        0.9999999839664174
      ],
      [
        -0.5556536880562812,
        -0.8314138368413303,
        0.00010420283735318447
      ]
    ],
    "position_light": [
      -164.992813,
      211.144745,
      96.912285
    ],
    "rotation_matrix_light": [
      [
        0.24768264068846563,
        -0.6830312614501705,
        -0.6871110575324608
      ],
      [
        -0.23423688937984888,
        0.645952540855009,
        -0.726552403214393
      ],
      [
        0.9400991379398453,
        0.34090117460159386,
        1.1304711033943704e-07
      ]
    ],
    "servo_angle": [
      [
        62.644341,
        -18.287552,
        -56.128664,
        117.688568,
        31.321254,
        3.067158,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -142.164064,
        14.038268,
        -50.005006,
        -190.553731,
        54.738898,
        166.673136,
        0.0
      ]
    ],
    "turn_angle": 735.9619052848915,
    "filename": "scan-0250_light-25_camera-250.png"
  },
  {
    "id": 251,
    "scan_id": "0251",
    "camera_id": 251,
    "light_id": 25,
    "position": [
      398.905701,
      -136.381149,
      396.57959
    ],
    "rotation_matrix": [
      [
        0.8681508976880925,
        -0.49630031233943617,
        0.00013716828133425452
      ],
      [
        -6.250237782925994e-05,
        0.00016704963037711407,
        0.9999999840939368
      ],
      [
        -0.49630032735916274,
        -0.868150892452573,
        0.00011400433693170564
      ]
    ],
    "position_light": [
      -164.992813,
      211.144745,
      96.912285
    ],
    "rotation_matrix_light": [
      [
        0.24768264068846563,
        -0.6830312614501705,
        -0.6871110575324608
      ],
      [
        -0.23423688937984888,
        0.645952540855009,
        -0.726552403214393
      ],
      [
        0.9400991379398453,
        0.34090117460159386,
        1.1304711033943704e-07
      ]
    ],
    "servo_angle": [
      [
        68.107321,
        -21.074706,
        -56.482924,
        118.257744,
        25.160639,
        -0.209703,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -142.164064,
        14.038268,
        -50.005006,
        -190.553731,
        54.738898,
        166.673136,
        0.0
      ]
    ],
    "turn_angle": 735.9619052848915,
    "filename": "scan-0251_light-25_camera-251.png"
  },
  {
    "id": 252,
    "scan_id": "0252",
    "camera_id": 252,
    "light_id": 25,
    "position": [
      350.474976,
      -136.381149,
      418.58136
    ],
    "rotation_matrix": [
      [
        0.9143324104712274,
        -0.40496447675394553,
        0.00012541641871602338
      ],
      [
        -6.308241296384964e-05,
        0.00016726929372018473,
        0.999999984020796
      ],
      [
        -0.40496449126125134,
        -0.9143324037724936,
        0.00012739360016661427
      ]
    ],
    "position_light": [
      -164.992813,
      211.144745,
      96.912285
    ],
    "rotation_matrix_light": [
      [
        0.24768264068846563,
        -0.6830312614501705,
        -0.6871110575324608
      ],
      [
        -0.23423688937984888,
        0.645952540855009,
        -0.726552403214393
      ],
      [
        0.9400991379398453,
        0.34090117460159386,
        1.1304711033943704e-07
      ]
    ],
    "servo_angle": [
      [
        77.034806,
        -23.766347,
        -58.131037,
        120.968866,
        15.372286,
        -7.461056,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -142.164064,
        14.038268,
        -50.005006,
        -190.553731,
        54.738898,
        166.673136,
        0.0
      ]
    ],
    "turn_angle": 735.9619052848915,
    "filename": "scan-0252_light-25_camera-252.png"
  },
  {
    "id": 253,
    "scan_id": "0253",
    "camera_id": 253,
    "light_id": 25,
    "position": [
      333.58606,
      -136.381149,
      424.897461
    ],
    "rotation_matrix": [
      [
        0.9278292014044939,
        -0.3730053061954789,
        0.00012071088095941263
      ],
      [
        -6.309055579598044e-05,
        0.00016668293455690542,
        0.9999999841181908
      ],
      [
        -0.37300532039192347,
        -0.9278291942846038,
        0.00013112018197503073
      ]
    ],
    "position_light": [
      -164.992813,
      211.144745,
      96.912285
    ],
    "rotation_matrix_light": [
      [
        0.24768264068846563,
        -0.6830312614501705,
        -0.6871110575324608
      ],
      [
        -0.23423688937984888,
        0.645952540855009,
        -0.726552403214393
      ],
      [
        0.9400991379398453,
        0.34090117460159386,
        1.1304711033943704e-07
      ]
    ],
    "servo_angle": [
      [
        80.179313,
        -24.246027,
        -59.09819,
        122.891999,
        11.960723,
        -11.080144,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -142.164064,
        14.038268,
        -50.005006,
        -190.553731,
        54.738898,
        166.673136,
        0.0
      ]
    ],
    "turn_angle": 735.9619052848915,
    "filename": "scan-0253_light-25_camera-253.png"
  },
  {
    "id": 254,
    "scan_id": "0254",
    "camera_id": 254,
    "light_id": 25,
    "position": [
      286.211792,
      -136.381149,
      439.184723
    ],
    "rotation_matrix": [
      [
        0.9590960023084885,
        -0.28308098963563355,
        0.00010799438211689383
      ],
      [
        -6.33083469118445e-05,
        0.00016700378933753868,
        0.9999999840508939
      ],
      [
        -0.2830810031562158,
        -0.9590959938487101,
        0.00014225127722800046
      ]
    ],
    "position_light": [
      -164.992813,
      211.144745,
      96.912285
    ],
    "rotation_matrix_light": [
      [
        0.24768264068846563,
        -0.6830312614501705,
        -0.6871110575324608
      ],
      [
        -0.23423688937984888,
        0.645952540855009,
        -0.726552403214393
      ],
      [
        0.9400991379398453,
        0.34090117460159386,
        1.1304711033943704e-07
      ]
    ],
    "servo_angle": [
      [
        88.120794,
        -24.309511,
        -63.383227,
        134.235188,
        3.050485,
        -27.497104,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -142.164064,
        14.038268,
        -50.005006,
        -190.553731,
        54.738898,
        166.673136,
        0.0
      ]
    ],
    "turn_angle": 735.9619052848915,
    "filename": "scan-0254_light-25_camera-254.png"
  },
  {
    "id": 255,
    "scan_id": "0255",
    "camera_id": 255,
    "light_id": 25,
    "position": [
      254.99585,
      -136.381149,
      445.986725
    ],
    "rotation_matrix": [
      [
        0.974676616102792,
        -0.22361906047882496,
        9.90604764221914e-05
      ],
      [
        -6.335014122024751e-05,
        0.0001668666950400688,
        0.9999999840711327
      ],
      [
        -0.22361907344672094,
        -0.9746766068527928,
        0.00014847476660106995
      ]
    ],
    "position_light": [
      -164.992813,
      211.144745,
      96.912285
    ],
    "rotation_matrix_light": [
      [
        0.24768264068846563,
        -0.6830312614501705,
        -0.6871110575324608
      ],
      [
        -0.23423688937984888,
        0.645952540855009,
        -0.726552403214393
      ],
      [
        0.9400991379398453,
        0.34090117460159386,
        1.1304711033943704e-07
      ]
    ],
    "servo_angle": [
      [
        91.106993,
        -23.467606,
        -67.59504,
        150.741472,
        -1.419961,
        -47.57492,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -142.164064,
        14.038268,
        -50.005006,
        -190.553731,
        54.738898,
        166.673136,
        0.0
      ]
    ],
    "turn_angle": 735.9619052848915,
    "filename": "scan-0255_light-25_camera-255.png"
  },
  {
    "id": 256,
    "scan_id": "0256",
    "camera_id": 256,
    "light_id": 25,
    "position": [
      240.103058,
      -136.381149,
      448.532013
    ],
    "rotation_matrix": [
      [
        0.9807647001218536,
        -0.19519373487788858,
        9.412391461438574e-05
      ],
      [
        -6.277014102645806e-05,
        0.00016681465006712637,
        0.999999984116391
      ],
      [
        -0.19519374747875545,
        -0.9807646904519419,
        0.0001513535819832046
      ]
    ],
    "position_light": [
      -164.992813,
      211.144745,
      96.912285
    ],
    "rotation_matrix_light": [
      [
        0.24768264068846563,
        -0.6830312614501705,
        -0.6871110575324608
      ],
      [
        -0.23423688937984888,
        0.645952540855009,
        -0.726552403214393
      ],
      [
        0.9400991379398453,
        0.34090117460159386,
        1.1304711033943704e-07
      ]
    ],
    "servo_angle": [
      [
        91.337265,
        -23.001333,
        -69.556675,
        162.218676,
        -2.838204,
        -60.761429,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -142.164064,
        14.038268,
        -50.005006,
        -190.553731,
        54.738898,
        166.673136,
        0.0
      ]
    ],
    "turn_angle": 735.9619052848915,
    "filename": "scan-0256_light-25_camera-256.png"
  },
  {
    "id": 257,
    "scan_id": "0257",
    "camera_id": 257,
    "light_id": 25,
    "position": [
      188.659042,
      -136.382797,
      453.940002
    ],
    "rotation_matrix": [
      [
        0.9942441500082545,
        -0.1000367034376395,
        -0.03835659186753797
      ],
      [
        0.03920047671081041,
        0.0064830370179916885,
        0.9992103346426457
      ],
      [
        -0.09970904071350965,
        -0.9949626265324505,
        0.010367208092758595
      ]
    ],
    "position_light": [
      -164.992813,
      211.144745,
      96.912285
    ],
    "rotation_matrix_light": [
      [
        0.24768264068846563,
        -0.6830312614501705,
        -0.6871110575324608
      ],
      [
        -0.23423688937984888,
        0.645952540855009,
        -0.726552403214393
      ],
      [
        0.9400991379398453,
        0.34090117460159386,
        1.1304711033943704e-07
      ]
    ],
    "servo_angle": [
      [
        91.830467,
        -22.601753,
        -71.079884,
        196.782355,
        -3.219221,
        -100.821149,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -142.164064,
        14.038268,
        -50.005006,
        -190.553731,
        54.738898,
        166.673136,
        0.0
      ]
    ],
    "turn_angle": 735.9619052848915,
    "filename": "scan-0257_light-25_camera-257.png"
  },
  {
    "id": 258,
    "scan_id": "0258",
    "camera_id": 258,
    "light_id": 25,
    "position": [
      167.676544,
      -136.382919,
      454.677124
    ],
    "rotation_matrix": [
      [
        0.9978620865013998,
        -0.05959821671510697,
        -0.026819934516174874
      ],
      [
        0.02782960402024035,
        0.01617616565577845,
        0.9994817881306061
      ],
      [
        -0.0591334885081997,
        -0.9980913706815905,
        0.017800177184361277
      ]
    ],
    "position_light": [
      -164.992813,
      211.144745,
      96.912285
    ],
    "rotation_matrix_light": [
      [
        0.24768264068846563,
        -0.6830312614501705,
        -0.6871110575324608
      ],
      [
        -0.23423688937984888,
        0.645952540855009,
        -0.726552403214393
      ],
      [
        0.9400991379398453,
        0.34090117460159386,
        1.1304711033943704e-07
      ]
    ],
    "servo_angle": [
      [
        91.439309,
        -23.162793,
        -68.818648,
        216.55679,
        -1.079166,
        -122.902312,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -142.164064,
        14.038268,
        -50.005006,
        -190.553731,
        54.738898,
        166.673136,
        0.0
      ]
    ],
    "turn_angle": 735.9619052848915,
    "filename": "scan-0258_light-25_camera-258.png"
  },
  {
    "id": 259,
    "scan_id": "0259",
    "camera_id": 259,
    "light_id": 25,
    "position": [
      136.81102,
      -136.382858,
      454.221039
    ],
    "rotation_matrix": [
      [
        0.9999403935613485,
        0.0007223896506824467,
        -0.010894378255250794
      ],
      [
        0.010882781508427784,
        0.01447753463132817,
        0.9998359695758293
      ],
      [
        0.0008799948952788114,
        -0.9998949340526692,
        0.014468810068316018
      ]
    ],
    "position_light": [
      -164.992813,
      211.144745,
      96.912285
    ],
    "rotation_matrix_light": [
      [
        0.24768264068846563,
        -0.6830312614501705,
        -0.6871110575324608
      ],
      [
        -0.23423688937984888,
        0.645952540855009,
        -0.726552403214393
      ],
      [
        0.9400991379398453,
        0.34090117460159386,
        1.1304711033943704e-07
      ]
    ],
    "servo_angle": [
      [
        94.156618,
        -23.888559,
        -65.094824,
        236.801681,
        3.63811,
        -146.510751,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -142.164064,
        14.038268,
        -50.005006,
        -190.553731,
        54.738898,
        166.673136,
        0.0
      ]
    ],
    "turn_angle": 735.9619052848915,
    "filename": "scan-0259_light-25_camera-259.png"
  },
  {
    "id": 260,
    "scan_id": "0260",
    "camera_id": 260,
    "light_id": 26,
    "position": [
      125.583069,
      -136.381866,
      453.60025
    ],
    "rotation_matrix": [
      [
        0.9997131153588963,
        0.023752443749676413,
        -0.0030835686027994493
      ],
      [
        0.002955154918847354,
        0.005439540863621362,
        0.999980839043728
      ],
      [
        0.02376876182756108,
        -0.9997030723225327,
        0.00536778819191136
      ]
    ],
    "position_light": [
      108.111115,
      192.456558,
      368.544037
    ],
    "rotation_matrix_light": [
      [
        0.16930000287425756,
        -0.12123417797169467,
        -0.9780796404783731
      ],
      [
        -0.7952158902599555,
        0.5694483918639537,
        -0.20823116212907106
      ],
      [
        0.5822106121540922,
        0.8130380083951085,
        2.696136136570715e-07
      ]
    ],
    "servo_angle": [
      [
        95.697073,
        -24.030423,
        -63.862621,
        243.148048,
        5.665292,
        -154.057293,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.198926,
        -36.415708,
        -39.044954,
        -94.127054,
        72.101983,
        51.083714,
        0.0
      ]
    ],
    "turn_angle": 773.4410963722106,
    "filename": "scan-0260_light-26_camera-260.png"
  },
  {
    "id": 261,
    "scan_id": "0261",
    "camera_id": 261,
    "light_id": 26,
    "position": [
      78.060974,
      -136.381149,
      448.242279
    ],
    "rotation_matrix": [
      [
        0.9932103809179338,
        0.11633201369897152,
        4.272698458198526e-05
      ],
      [
        -6.257859671914001e-05,
        0.00016699382538354346,
        0.9999999840984907
      ],
      [
        0.11633200471397431,
        -0.9932103677981844,
        0.00017313989509093464
      ]
    ],
    "position_light": [
      108.111115,
      192.456558,
      368.544037
    ],
    "rotation_matrix_light": [
      [
        0.16930000287425756,
        -0.12123417797169467,
        -0.9780796404783731
      ],
      [
        -0.7952158902599555,
        0.5694483918639537,
        -0.20823116212907106
      ],
      [
        0.5822106121540922,
        0.8130380083951085,
        2.696136136570715e-07
      ]
    ],
    "servo_angle": [
      [
        104.397437,
        -23.029695,
        -62.319645,
        251.680019,
        14.743808,
        -167.271705,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.198926,
        -36.415708,
        -39.044954,
        -94.127054,
        72.101983,
        51.083714,
        0.0
      ]
    ],
    "turn_angle": 773.4410963722106,
    "filename": "scan-0261_light-26_camera-261.png"
  },
  {
    "id": 262,
    "scan_id": "0262",
    "camera_id": 262,
    "light_id": 26,
    "position": [
      66.712296,
      -136.381149,
      446.301331
    ],
    "rotation_matrix": [
      [
        0.9903897880628192,
        0.13830425227958282,
        3.875911705156221e-05
      ],
      [
        -6.240088135672783e-05,
        0.00016660427169701286,
        0.9999999841745729
      ],
      [
        0.13830424363342453,
        -0.9903897748080811,
        0.00017363347657406436
      ]
    ],
    "position_light": [
      108.111115,
      192.456558,
      368.544037
    ],
    "rotation_matrix_light": [
      [
        0.16930000287425756,
        -0.12123417797169467,
        -0.9780796404783731
      ],
      [
        -0.7952158902599555,
        0.5694483918639537,
        -0.20823116212907106
      ],
      [
        0.5822106121540922,
        0.8130380083951085,
        2.696136136570715e-07
      ]
    ],
    "servo_angle": [
      [
        106.532564,
        -22.527898,
        -62.291341,
        252.498432,
        16.929757,
        -169.161263,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.198926,
        -36.415708,
        -39.044954,
        -94.127054,
        72.101983,
        51.083714,
        0.0
      ]
    ],
    "turn_angle": 773.4410963722106,
    "filename": "scan-0262_light-26_camera-262.png"
  },
  {
    "id": 263,
    "scan_id": "0263",
    "camera_id": 263,
    "light_id": 26,
    "position": [
      39.559555,
      -136.381149,
      440.594421
    ],
    "rotation_matrix": [
      [
        0.9815980170134482,
        0.19095898017596072,
        2.9756057577184913e-05
      ],
      [
        -6.282347432731705e-05,
        0.00016711097162963595,
        0.9999999840635668
      ],
      [
        0.19095897216019203,
        -0.9815980032396562,
        0.00017603250496150968
      ]
    ],
    "position_light": [
      108.111115,
      192.456558,
      368.544037
    ],
    "rotation_matrix_light": [
      [
        0.16930000287425756,
        -0.12123417797169467,
        -0.9780796404783731
      ],
      [
        -0.7952158902599555,
        0.5694483918639537,
        -0.20823116212907106
      ],
      [
        0.5822106121540922,
        0.8130380083951085,
        2.696136136570715e-07
      ]
    ],
    "servo_angle": [
      [
        111.521651,
        -20.96974,
        -62.532556,
        253.744272,
        22.056297,
        -172.905943,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.198926,
        -36.415708,
        -39.044954,
        -94.127054,
        72.101983,
        51.083714,
        0.0
      ]
    ],
    "turn_angle": 773.4410963722106,
    "filename": "scan-0263_light-26_camera-263.png"
  },
  {
    "id": 264,
    "scan_id": "0264",
    "camera_id": 264,
    "light_id": 26,
    "position": [
      1.554016,
      -136.381149,
      430.001556
    ],
    "rotation_matrix": [
      [
        0.9642841570495565,
        0.2648699005202816,
        1.6174123424861353e-05
      ],
      [
        -6.26746723131344e-05,
        0.00016710872132175147,
        0.9999999840732801
      ],
      [
        0.2648698935989358,
        -0.9642841427053808,
        0.00017774092669609054
      ]
    ],
    "position_light": [
      108.111115,
      192.456558,
      368.544037
    ],
    "rotation_matrix_light": [
      [
        0.16930000287425756,
        -0.12123417797169467,
        -0.9780796404783731
      ],
      [
        -0.7952158902599555,
        0.5694483918639537,
        -0.20823116212907106
      ],
      [
        0.5822106121540922,
        0.8130380083951085,
        2.696136136570715e-07
      ]
    ],
    "servo_angle": [
      [
        118.063511,
        -18.004798,
        -63.457368,
        254.472329,
        28.843383,
        -176.979558,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.198926,
        -36.415708,
        -39.044954,
        -94.127054,
        72.101983,
        51.083714,
        0.0
      ]
    ],
    "turn_angle": 773.4410963722106,
    "filename": "scan-0264_light-26_camera-264.png"
  },
  {
    "id": 265,
    "scan_id": "0265",
    "camera_id": 265,
    "light_id": 26,
    "position": [
      -37.68462,
      -136.381149,
      415.679138
    ],
    "rotation_matrix": [
      [
        0.9399000008934247,
        0.34144983279391466,
        2.3553608429205397e-06
      ],
      [
        -6.297629842011432e-05,
        0.00016645508849910673,
        0.9999999841633445
      ],
      [
        0.3414498269944295,
        -0.9398999861568842,
        0.00017795438439460742
      ]
    ],
    "position_light": [
      108.111115,
      192.456558,
      368.544037
    ],
    "rotation_matrix_light": [
      [
        0.16930000287425756,
        -0.12123417797169467,
        -0.9780796404783731
      ],
      [
        -0.7952158902599555,
        0.5694483918639537,
        -0.20823116212907106
      ],
      [
        0.5822106121540922,
        0.8130380083951085,
        2.696136136570715e-07
      ]
    ],
    "servo_angle": [
      [
        124.147693,
        -14.075338,
        -65.002062,
        254.603537,
        35.25077,
        -180.390376,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.198926,
        -36.415708,
        -39.044954,
        -94.127054,
        72.101983,
        51.083714,
        0.0
      ]
    ],
    "turn_angle": 773.4410963722106,
    "filename": "scan-0265_light-26_camera-265.png"
  },
  {
    "id": 266,
    "scan_id": "0266",
    "camera_id": 266,
    "light_id": 26,
    "position": [
      -65.088959,
      -136.381149,
      403.472626
    ],
    "rotation_matrix": [
      [
        0.9186336528928285,
        0.3951103791292484,
        -8.78178026925136e-06
      ],
      [
        -6.246527663292256e-05,
        0.00016745823161384843,
        0.9999999840279149
      ],
      [
        0.3951103742890932,
        -0.9186336376717773,
        0.00017851344614733256
      ]
    ],
    "position_light": [
      108.111115,
      192.456558,
      368.544037
    ],
    "rotation_matrix_light": [
      [
        0.16930000287425756,
        -0.12123417797169467,
        -0.9780796404783731
      ],
      [
        -0.7952158902599555,
        0.5694483918639537,
        -0.20823116212907106
      ],
      [
        0.5822106121540922,
        0.8130380083951085,
        2.696136136570715e-07
      ]
    ],
    "servo_angle": [
      [
        127.972473,
        -10.851018,
        -66.402142,
        254.517536,
        39.341058,
        -182.509117,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.198926,
        -36.415708,
        -39.044954,
        -94.127054,
        72.101983,
        51.083714,
        0.0
      ]
    ],
    "turn_angle": 773.4410963722106,
    "filename": "scan-0266_light-26_camera-266.png"
  },
  {
    "id": 267,
    "scan_id": "0267",
    "camera_id": 267,
    "light_id": 26,
    "position": [
      -104.401093,
      -136.381149,
      382.463623
    ],
    "rotation_matrix": [
      [
        0.8814016510777971,
        0.472367578183568,
        -2.3628879268461356e-05
      ],
      [
        -6.257951201779632e-05,
        0.00016679079544917874,
        0.9999999841323174
      ],
      [
        0.4723675746292688,
        -0.8814016356133118,
        0.0001765702150293147
      ]
    ],
    "position_light": [
      108.111115,
      192.456558,
      368.544037
    ],
    "rotation_matrix_light": [
      [
        0.16930000287425756,
        -0.12123417797169467,
        -0.9780796404783731
      ],
      [
        -0.7952158902599555,
        0.5694483918639537,
        -0.20823116212907106
      ],
      [
        0.5822106121540922,
        0.8130380083951085,
        2.696136136570715e-07
      ]
    ],
    "servo_angle": [
      [
        132.871892,
        -5.574421,
        -68.862881,
        254.28417,
        44.671972,
        -185.363535,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.198926,
        -36.415708,
        -39.044954,
        -94.127054,
        72.101983,
        51.083714,
        0.0
      ]
    ],
    "turn_angle": 773.4410963722106,
    "filename": "scan-0267_light-26_camera-267.png"
  },
  {
    "id": 268,
    "scan_id": "0268",
    "camera_id": 268,
    "light_id": 26,
    "position": [
      -135.608307,
      -136.381149,
      362.489624
    ],
    "rotation_matrix": [
      [
        0.8455082605988177,
        0.5339623394498423,
        -3.61719972706287e-05
      ],
      [
        -6.256926883529967e-05,
        0.0001668185633619812,
        0.9999999841283267
      ],
      [
        0.5339623370091271,
        -0.8455082449159312,
        0.0001744561065087913
      ]
    ],
    "position_light": [
      108.111115,
      192.456558,
      368.544037
    ],
    "rotation_matrix_light": [
      [
        0.16930000287425756,
        -0.12123417797169467,
        -0.9780796404783731
      ],
      [
        -0.7952158902599555,
        0.5694483918639537,
        -0.20823116212907106
      ],
      [
        0.5822106121540922,
        0.8130380083951085,
        2.696136136570715e-07
      ]
    ],
    "servo_angle": [
      [
        136.305972,
        -0.844884,
        -71.212065,
        254.065988,
        48.485637,
        -187.584491,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.198926,
        -36.415708,
        -39.044954,
        -94.127054,
        72.101983,
        51.083714,
        0.0
      ]
    ],
    "turn_angle": 773.4410963722106,
    "filename": "scan-0268_light-26_camera-268.png"
  },
  {
    "id": 269,
    "scan_id": "0269",
    "camera_id": 269,
    "light_id": 26,
    "position": [
      -155.19516,
      -136.381149,
      348.259796
    ],
    "rotation_matrix": [
      [
        0.8197253407819503,
        0.5727568102964447,
        -4.403360054783256e-05
      ],
      [
        -6.31220700968993e-05,
        0.00016721994141960517,
        0.9999999840265476
      ],
      [
        0.5727568085108372,
        -0.8197253249086144,
        0.00017322801899372076
      ]
    ],
    "position_light": [
      108.111115,
      192.456558,
      368.544037
    ],
    "rotation_matrix_light": [
      [
        0.16930000287425756,
        -0.12123417797169467,
        -0.9780796404783731
      ],
      [
        -0.7952158902599555,
        0.5694483918639537,
        -0.20823116212907106
      ],
      [
        0.5822106121540922,
        0.8130380083951085,
        2.696136136570715e-07
      ]
    ],
    "servo_angle": [
      [
        138.274311,
        2.376686,
        -72.881034,
        253.927733,
        50.707223,
        -188.998093,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -96.198926,
        -36.415708,
        -39.044954,
        -94.127054,
        72.101983,
        51.083714,
        0.0
      ]
    ],
    "turn_angle": 773.4410963722106,
    "filename": "scan-0269_light-26_camera-269.png"
  },
  {
    "id": 270,
    "scan_id": "0270",
    "camera_id": 270,
    "light_id": 27,
    "position": [
      -184.018478,
      -136.381149,
      324.593323
    ],
    "rotation_matrix": [
      [
        0.7765429702962139,
        0.6300642920249051,
        -5.655694496475849e-05
      ],
      [
        -6.290054806229461e-05,
        0.00016728756703277003,
        0.9999999840291951
      ],
      [
        0.6300642914235451,
        -0.776542954336735,
        0.0001695373734801331
      ]
    ],
    "position_light": [
      16.163799,
      204.985855,
      270.345825
    ],
    "rotation_matrix_light": [
      [
        0.30866767454575705,
        -0.31876670575792176,
        -0.8961651934720278
      ],
      [
        -0.6234037320276966,
        0.6438010879804027,
        -0.4437205719923178
      ],
      [
        0.7183954715784715,
        0.6956349232287669,
        2.3068127613656841e-07
      ]
    ],
    "servo_angle": [
      [
        140.933064,
        7.502023,
        -75.643378,
        253.730693,
        53.758395,
        -191.154935,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.789227,
        -28.07327,
        -34.135393,
        -126.955759,
        41.161059,
        91.411577,
        0.0
      ]
    ],
    "turn_angle": 802.4374405723743,
    "filename": "scan-0270_light-27_camera-270.png"
  },
  {
    "id": 271,
    "scan_id": "0271",
    "camera_id": 271,
    "light_id": 27,
    "position": [
      -216.191971,
      -136.381149,
      293.624115
    ],
    "rotation_matrix": [
      [
        0.7195904281623482,
        0.6943987404057308,
        -7.085240242088453e-05
      ],
      [
        -6.26077230108657e-05,
        0.00016691320527878473,
        0.9999999841101272
      ],
      [
        0.6943987411980248,
        -0.7195904122922403,
        0.00016358386885090281
      ]
    ],
    "position_light": [
      16.163799,
      204.985855,
      270.345825
    ],
    "rotation_matrix_light": [
      [
        0.30866767454575705,
        -0.31876670575792176,
        -0.8961651934720278
      ],
      [
        -0.6234037320276966,
        0.6438010879804027,
        -0.4437205719923178
      ],
      [
        0.7183954715784715,
        0.6956349232287669,
        2.3068127613656841e-07
      ]
    ],
    "servo_angle": [
      [
        143.600871,
        13.843176,
        -79.234792,
        253.523798,
        56.891959,
        -193.750205,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.789227,
        -28.07327,
        -34.135393,
        -126.955759,
        41.161059,
        91.411577,
        0.0
      ]
    ],
    "turn_angle": 802.4374405723743,
    "filename": "scan-0271_light-27_camera-271.png"
  },
  {
    "id": 272,
    "scan_id": "0272",
    "camera_id": 272,
    "light_id": 27,
    "position": [
      -239.283768,
      -136.381149,
      267.72229
    ],
    "rotation_matrix": [
      [
        0.6716512296847699,
        0.7408674774124105,
        -8.108950773388912e-05
      ],
      [
        -6.313752189912591e-05,
        0.00016669094599724987,
        0.999999984113891
      ],
      [
        0.7408674791597957,
        -0.6716512138950544,
        0.0001587347154357599
      ]
    ],
    "position_light": [
      16.163799,
      204.985855,
      270.345825
    ],
    "rotation_matrix_light": [
      [
        0.30866767454575705,
        -0.31876670575792176,
        -0.8961651934720278
      ],
      [
        -0.6234037320276966,
        0.6438010879804027,
        -0.4437205719923178
      ],
      [
        0.7183954715784715,
        0.6956349232287669,
        2.3068127613656841e-07
      ]
    ],
    "servo_angle": [
      [
        145.342605,
        18.888872,
        -82.225402,
        253.382563,
        58.988125,
        -195.803915,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.789227,
        -28.07327,
        -34.135393,
        -126.955759,
        41.161059,
        91.411577,
        0.0
      ]
    ],
    "turn_angle": 802.4374405723743,
    "filename": "scan-0272_light-27_camera-272.png"
  },
  {
    "id": 273,
    "scan_id": "0273",
    "camera_id": 273,
    "light_id": 27,
    "position": [
      -251.096375,
      -136.381149,
      253.011658
    ],
    "rotation_matrix": [
      [
        0.644319656088228,
        0.7647562835874129,
        -8.655585500488838e-05
      ],
      [
        -6.314347952440791e-05,
        0.00016638037682897844,
        0.9999999841652354
      ],
      [
        0.764756285878873,
        -0.6443196404201401,
        0.00015549151991217647
      ]
    ],
    "position_light": [
      16.163799,
      204.985855,
      270.345825
    ],
    "rotation_matrix_light": [
      [
        0.30866767454575705,
        -0.31876670575792176,
        -0.8961651934720278
      ],
      [
        -0.6234037320276966,
        0.6438010879804027,
        -0.4437205719923178
      ],
      [
        0.7183954715784715,
        0.6956349232287669,
        2.3068127613656841e-07
      ]
    ],
    "servo_angle": [
      [
        146.183191,
        21.667717,
        -83.92193,
        253.311517,
        60.017616,
        -196.940663,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.789227,
        -28.07327,
        -34.135393,
        -126.955759,
        41.161059,
        91.411577,
        0.0
      ]
    ],
    "turn_angle": 802.4374405723743,
    "filename": "scan-0273_light-27_camera-273.png"
  },
  {
    "id": 274,
    "scan_id": "0274",
    "camera_id": 274,
    "light_id": 27,
    "position": [
      -280.687927,
      -136.381149,
      210.546326
    ],
    "rotation_matrix": [
      [
        0.5650602856687525,
        0.8250496125261922,
        -0.0001021289776877432
      ],
      [
        -6.272335348533886e-05,
        0.00016674324794163642,
        0.9999999841312351
      ],
      [
        0.8250496164629912,
        -0.5650602702960718,
        0.00014596986580461824
      ]
    ],
    "position_light": [
      16.163799,
      204.985855,
      270.345825
    ],
    "rotation_matrix_light": [
      [
        0.30866767454575705,
        -0.31876670575792176,
        -0.8961651934720278
      ],
      [
        -0.6234037320276966,
        0.6438010879804027,
        -0.4437205719923178
      ],
      [
        0.7183954715784715,
        0.6956349232287669,
        2.3068127613656841e-07
      ]
    ],
    "servo_angle": [
      [
        148.153994,
        29.404423,
        -88.829486,
        253.130347,
        62.491074,
        -200.153295,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.789227,
        -28.07327,
        -34.135393,
        -126.955759,
        41.161059,
        91.411577,
        0.0
      ]
    ],
    "turn_angle": 802.4374405723743,
    "filename": "scan-0274_light-27_camera-274.png"
  },
  {
    "id": 275,
    "scan_id": "0275",
    "camera_id": 275,
    "light_id": 27,
    "position": [
      -287.409668,
      -136.381149,
      199.492416
    ],
    "rotation_matrix": [
      [
        0.5443502292358378,
        0.8388580433694084,
        -0.00010490633492515888
      ],
      [
        -6.31416776327165e-05,
        0.00016603228766137734,
        0.999999984223204
      ],
      [
        0.8388580475527547,
        -0.5443502140237731,
        0.00014334661800302628
      ]
    ],
    "position_light": [
      16.163799,
      204.985855,
      270.345825
    ],
    "rotation_matrix_light": [
      [
        0.30866767454575705,
        -0.31876670575792176,
        -0.8961651934720278
      ],
      [
        -0.6234037320276966,
        0.6438010879804027,
        -0.4437205719923178
      ],
      [
        0.7183954715784715,
        0.6956349232287669,
        2.3068127613656841e-07
      ]
    ],
    "servo_angle": [
      [
        148.577009,
        31.360444,
        -90.113255,
        253.087032,
        63.035785,
        -200.980359,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.789227,
        -28.07327,
        -34.135393,
        -126.955759,
        41.161059,
        91.411577,
        0.0
      ]
    ],
    "turn_angle": 802.4374405723743,
    "filename": "scan-0275_light-27_camera-275.png"
  },
  {
    "id": 276,
    "scan_id": "0276",
    "camera_id": 276,
    "light_id": 27,
    "position": [
      -306.419403,
      -136.381149,
      164.313324
    ],
    "rotation_matrix": [
      [
        0.47824855501566754,
        0.8782245191011793,
        -0.00011693985102750881
      ],
      [
        -6.265267188948487e-05,
        0.0001672731696347185,
        0.9999999840471647
      ],
      [
        0.8782245246519076,
        -0.478248540059653,
        0.0001350212643112525
      ]
    ],
    "position_light": [
      16.163799,
      204.985855,
      270.345825
    ],
    "rotation_matrix_light": [
      [
        0.30866767454575705,
        -0.31876670575792176,
        -0.8961651934720278
      ],
      [
        -0.6234037320276966,
        0.6438010879804027,
        -0.4437205719923178
      ],
      [
        0.7183954715784715,
        0.6956349232287669,
        2.3068127613656841e-07
      ]
    ],
    "servo_angle": [
      [
        149.729113,
        37.462444,
        -94.23116,
        252.954278,
        64.553436,
        -203.607199,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.789227,
        -28.07327,
        -34.135393,
        -126.955759,
        41.161059,
        91.411577,
        0.0
      ]
    ],
    "turn_angle": 802.4374405723743,
    "filename": "scan-0276_light-27_camera-276.png"
  },
  {
    "id": 277,
    "scan_id": "0277",
    "camera_id": 277,
    "light_id": 27,
    "position": [
      -326.340149,
      -136.381149,
      118.316422
    ],
    "rotation_matrix": [
      [
        0.39142470325997525,
        0.9202101310193604,
        -0.0001282465244745734
      ],
      [
        -6.302197036955892e-05,
        0.00016617386979927984,
        0.9999999842072376
      ],
      [
        0.9202101377979222,
        -0.3914246889959494,
        0.0001230380132866693
      ]
    ],
    "position_light": [
      16.163799,
      204.985855,
      270.345825
    ],
    "rotation_matrix_light": [
      [
        0.30866767454575705,
        -0.31876670575792176,
        -0.8961651934720278
      ],
      [
        -0.6234037320276966,
        0.6438010879804027,
        -0.4437205719923178
      ],
      [
        0.7183954715784715,
        0.6956349232287669,
        2.3068127613656841e-07
      ]
    ],
    "servo_angle": [
      [
        150.875028,
        45.233299,
        -99.730065,
        252.783937,
        66.133252,
        -207.067864,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.789227,
        -28.07327,
        -34.135393,
        -126.955759,
        41.161059,
        91.411577,
        0.0
      ]
    ],
    "turn_angle": 802.4374405723743,
    "filename": "scan-0277_light-27_camera-277.png"
  },
  {
    "id": 278,
    "scan_id": "0278",
    "camera_id": 278,
    "light_id": 27,
    "position": [
      -333.03125,
      -136.381149,
      99.474365
    ],
    "rotation_matrix": [
      [
        0.35574054770098135,
        0.9345847446185862,
        -0.00013359497567533296
      ],
      [
        -6.296388604115633e-05,
        0.00016691239799648816,
        0.9999999840878999
      ],
      [
        0.9345847520460381,
        -0.35574053362874336,
        0.00011822259523724954
      ]
    ],
    "position_light": [
      16.163799,
      204.985855,
      270.345825
    ],
    "rotation_matrix_light": [
      [
        0.30866767454575705,
        -0.31876670575792176,
        -0.8961651934720278
      ],
      [
        -0.6234037320276966,
        0.6438010879804027,
        -0.4437205719923178
      ],
      [
        0.7183954715784715,
        0.6956349232287669,
        2.3068127613656841e-07
      ]
    ],
    "servo_angle": [
      [
        151.248482,
        48.373566,
        -102.036793,
        252.71312,
        66.671317,
        -208.506217,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.789227,
        -28.07327,
        -34.135393,
        -126.955759,
        41.161059,
        91.411577,
        0.0
      ]
    ],
    "turn_angle": 802.4374405723743,
    "filename": "scan-0278_light-27_camera-278.png"
  },
  {
    "id": 279,
    "scan_id": "0279",
    "camera_id": 279,
    "light_id": 27,
    "position": [
      -340.036316,
      -136.381149,
      76.757957
    ],
    "rotation_matrix": [
      [
        0.31263357139913706,
        0.9498737973408264,
        -0.00013841798628755342
      ],
      [
        -6.283688410052557e-05,
        0.0001664041097168556,
        0.999999984180599
      ],
      [
        0.9498738053477138,
        -0.31263355775570634,
        0.0001117106208298746
      ]
    ],
    "position_light": [
      16.163799,
      204.985855,
      270.345825
    ],
    "rotation_matrix_light": [
      [
        0.30866767454575705,
        -0.31876670575792176,
        -0.8961651934720278
      ],
      [
        -0.6234037320276966,
        0.6438010879804027,
        -0.4437205719923178
      ],
      [
        0.7183954715784715,
        0.6956349232287669,
        2.3068127613656841e-07
      ]
    ],
    "servo_angle": [
      [
        151.635114,
        52.142998,
        -104.873393,
        252.626202,
        67.246681,
        -210.264453,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -121.789227,
        -28.07327,
        -34.135393,
        -126.955759,
        41.161059,
        91.411577,
        0.0
      ]
    ],
    "turn_angle": 802.4374405723743,
    "filename": "scan-0279_light-27_camera-279.png"
  },
  {
    "id": 280,
    "scan_id": "0280",
    "camera_id": 280,
    "light_id": 28,
    "position": [
      -339.667603,
      -136.381149,
      78.052246
    ],
    "rotation_matrix": [
      [
        0.31263357139913706,
        0.9498737973408264,
        -0.00013841798628755342
      ],
      [
        -6.283688410052557e-05,
        0.0001664041097168556,
        0.999999984180599
      ],
      [
        0.9498738053477138,
        -0.31263355775570634,
        0.0001117106208298746
      ]
    ],
    "position_light": [
      314.03244,
      208.674118,
      232.758621
    ],
    "rotation_matrix_light": [
      [
        0.3147202479656832,
        0.37971935702143284,
        0.8699220513492277
      ],
      [
        0.5551254967376461,
        0.6697761255042425,
        -0.4931892380986296
      ],
      [
        -0.7699265214240903,
        0.6381325501866792,
        2.11612767198055e-07
      ]
    ],
    "servo_angle": [
      [
        151.614831,
        51.92854,
        -104.7101,
        252.631359,
        67.215856,
        -210.312008,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.297409,
        -35.953445,
        -20.914048,
        -242.357194,
        55.216688,
        87.904503,
        0.0
      ]
    ],
    "turn_angle": 833.3998455733333,
    "filename": "scan-0280_light-28_camera-280.png"
  },
  {
    "id": 281,
    "scan_id": "0281",
    "camera_id": 281,
    "light_id": 28,
    "position": [
      -335.841339,
      -136.381149,
      90.798042
    ],
    "rotation_matrix": [
      [
        0.33928745028544893,
        0.9406827348051252,
        -0.00013608214197080581
      ],
      [
        -6.276984176883937e-05,
        0.00016730312308693707,
        0.9999999840348057
      ],
      [
        0.94068274255391,
        -0.33928743632680436,
        0.0001158103564752877
      ]
    ],
    "position_light": [
      314.03244,
      208.674118,
      232.758621
    ],
    "rotation_matrix_light": [
      [
        0.3147202479656832,
        0.37971935702143284,
        0.8699220513492277
      ],
      [
        0.5551254967376461,
        0.6697761255042425,
        -0.4931892380986296
      ],
      [
        -0.7699265214240903,
        0.6381325501866792,
        2.11612767198055e-07
      ]
    ],
    "servo_angle": [
      [
        151.403983,
        49.814727,
        -103.112407,
        252.680117,
        66.900214,
        -209.174286,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.297409,
        -35.953445,
        -20.914048,
        -242.357194,
        55.216688,
        87.904503,
        0.0
      ]
    ],
    "turn_angle": 833.3998455733333,
    "filename": "scan-0281_light-28_camera-281.png"
  },
  {
    "id": 282,
    "scan_id": "0282",
    "camera_id": 282,
    "light_id": 28,
    "position": [
      -322.005157,
      -136.381149,
      129.429123
    ],
    "rotation_matrix": [
      [
        0.4124394987881274,
        0.9109849855656114,
        -0.00012614840956426399
      ],
      [
        -6.269110313417148e-05,
        0.00016685751919504055,
        0.9999999841141969
      ],
      [
        0.9109849921426938,
        -0.4124394843278117,
        0.00012592928526961034
      ]
    ],
    "position_light": [
      314.03244,
      208.674118,
      232.758621
    ],
    "rotation_matrix_light": [
      [
        0.3147202479656832,
        0.37971935702143284,
        0.8699220513492277
      ],
      [
        0.5551254967376461,
        0.6697761255042425,
        -0.4931892380986296
      ],
      [
        -0.7699265214240903,
        0.6381325501866792,
        2.11612767198055e-07
      ]
    ],
    "servo_angle": [
      [
        150.630318,
        43.371816,
        -98.386078,
        252.825247,
        65.787931,
        -206.226361,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.297409,
        -35.953445,
        -20.914048,
        -242.357194,
        55.216688,
        87.904503,
        0.0
      ]
    ],
    "turn_angle": 833.3998455733333,
    "filename": "scan-0282_light-28_camera-282.png"
  },
  {
    "id": 283,
    "scan_id": "0283",
    "camera_id": 283,
    "light_id": 28,
    "position": [
      -309.10965,
      -136.381149,
      158.758301
    ],
    "rotation_matrix": [
      [
        0.4677861543930249,
        0.8838416712241961,
        -0.00011817700712446477
      ],
      [
        -6.268632952471931e-05,
        0.0001668860012717932,
        0.9999999841097432
      ],
      [
        0.8838416769018133,
        -0.4677861395516999,
        0.00013347175100691944
      ]
    ],
    "position_light": [
      314.03244,
      208.674118,
      232.758621
    ],
    "rotation_matrix_light": [
      [
        0.3147202479656832,
        0.37971935702143284,
        0.8699220513492277
      ],
      [
        0.5551254967376461,
        0.6697761255042425,
        -0.4931892380986296
      ],
      [
        -0.7699265214240903,
        0.6381325501866792,
        2.11612767198055e-07
      ]
    ],
    "servo_angle": [
      [
        149.887306,
        38.411492,
        -94.887197,
        252.933708,
        64.766519,
        -204.022651,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.297409,
        -35.953445,
        -20.914048,
        -242.357194,
        55.216688,
        87.904503,
        0.0
      ]
    ],
    "turn_angle": 833.3998455733333,
    "filename": "scan-0283_light-28_camera-283.png"
  },
  {
    "id": 284,
    "scan_id": "0284",
    "camera_id": 284,
    "light_id": 28,
    "position": [
      -287.512543,
      -136.381149,
      199.318329
    ],
    "rotation_matrix": [
      [
        0.5440238584881845,
        0.8390697410695901,
        -0.00010496208239901827
      ],
      [
        -6.310382039398377e-05,
        0.00016600773187491757,
        0.9999999842296702
      ],
      [
        0.8390697452617009,
        -0.5440238432852403,
        0.00014326067307190993
      ]
    ],
    "position_light": [
      314.03244,
      208.674118,
      232.758621
    ],
    "rotation_matrix_light": [
      [
        0.3147202479656832,
        0.37971935702143284,
        0.8699220513492277
      ],
      [
        0.5551254967376461,
        0.6697761255042425,
        -0.4931892380986296
      ],
      [
        -0.7699265214240903,
        0.6381325501866792,
        2.11612767198055e-07
      ]
    ],
    "servo_angle": [
      [
        148.583369,
        31.391097,
        -90.13348,
        253.086402,
        63.044036,
        -200.993365,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.297409,
        -35.953445,
        -20.914048,
        -242.357194,
        55.216688,
        87.904503,
        0.0
      ]
    ],
    "turn_angle": 833.3998455733333,
    "filename": "scan-0284_light-28_camera-284.png"
  },
  {
    "id": 285,
    "scan_id": "0285",
    "camera_id": 285,
    "light_id": 28,
    "position": [
      -270.840881,
      -136.381149,
      225.702209
    ],
    "rotation_matrix": [
      [
        0.5934055796888732,
        0.8049036020328529,
        -9.710124352718674e-05
      ],
      [
        -6.289733955222587e-05,
        0.00016700742036607208,
        0.9999999840762233
      ],
      [
        0.8049036054323757,
        -0.5934055641322054,
        0.00014972943025842733
      ]
    ],
    "position_light": [
      314.03244,
      208.674118,
      232.758621
    ],
    "rotation_matrix_light": [
      [
        0.3147202479656832,
        0.37971935702143284,
        0.8699220513492277
      ],
      [
        0.5551254967376461,
        0.6697761255042425,
        -0.4931892380986296
      ],
      [
        -0.7699265214240903,
        0.6381325501866792,
        2.11612767198055e-07
      ]
    ],
    "servo_angle": [
      [
        147.518469,
        26.686598,
        -87.074631,
        253.191883,
        61.68286,
        -199.014942,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.297409,
        -35.953445,
        -20.914048,
        -242.357194,
        55.216688,
        87.904503,
        0.0
      ]
    ],
    "turn_angle": 833.3998455733333,
    "filename": "scan-0285_light-28_camera-285.png"
  },
  {
    "id": 286,
    "scan_id": "0286",
    "camera_id": 286,
    "light_id": 28,
    "position": [
      -248.244324,
      -136.381149,
      256.664764
    ],
    "rotation_matrix": [
      [
        0.6511132756885875,
        0.7589805629451989,
        -8.540179473526255e-05
      ],
      [
        -6.316150383811614e-05,
        0.00016670662361722988,
        0.9999999841097629
      ],
      [
        0.7589805651218626,
        -0.6511132599481373,
        0.0001564832495219437
      ]
    ],
    "position_light": [
      314.03244,
      208.674118,
      232.758621
    ],
    "rotation_matrix_light": [
      [
        0.3147202479656832,
        0.37971935702143284,
        0.8699220513492277
      ],
      [
        0.5551254967376461,
        0.6697761255042425,
        -0.4931892380986296
      ],
      [
        -0.7699265214240903,
        0.6381325501866792,
        2.11612767198055e-07
      ]
    ],
    "servo_angle": [
      [
        145.983229,
        20.982975,
        -83.500635,
        253.328648,
        59.77153,
        -196.659914,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.297409,
        -35.953445,
        -20.914048,
        -242.357194,
        55.216688,
        87.904503,
        0.0
      ]
    ],
    "turn_angle": 833.3998455733333,
    "filename": "scan-0286_light-28_camera-286.png"
  },
  {
    "id": 287,
    "scan_id": "0287",
    "camera_id": 287,
    "light_id": 28,
    "position": [
      -239.013794,
      -136.381149,
      268.046021
    ],
    "rotation_matrix": [
      [
        0.6722518538492013,
        0.740322523257043,
        -8.09607159725223e-05
      ],
      [
        -6.319398263293641e-05,
        0.00016674217355888699,
        0.9999999841017839
      ],
      [
        0.7403225249868013,
        -0.6722518380453659,
        0.00015887666396735556
      ]
    ],
    "position_light": [
      314.03244,
      208.674118,
      232.758621
    ],
    "rotation_matrix_light": [
      [
        0.3147202479656832,
        0.37971935702143284,
        0.8699220513492277
      ],
      [
        0.5551254967376461,
        0.6697761255042425,
        -0.4931892380986296
      ],
      [
        -0.7699265214240903,
        0.6381325501866792,
        2.11612767198055e-07
      ]
    ],
    "servo_angle": [
      [
        145.323067,
        18.827049,
        -82.188046,
        253.384225,
        58.96429,
        -195.778705,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.297409,
        -35.953445,
        -20.914048,
        -242.357194,
        55.216688,
        87.904503,
        0.0
      ]
    ],
    "turn_angle": 833.3998455733333,
    "filename": "scan-0287_light-28_camera-287.png"
  },
  {
    "id": 288,
    "scan_id": "0288",
    "camera_id": 288,
    "light_id": 28,
    "position": [
      -217.921494,
      -136.381149,
      291.801056
    ],
    "rotation_matrix": [
      [
        0.7162246134271693,
        0.6978698288589185,
        -7.134091148791599e-05
      ],
      [
        -6.302740866620526e-05,
        0.00016691177486521935,
        0.9999999840840024
      ],
      [
        0.6978698296592623,
        -0.7162245975313073,
        0.00016353124832851895
      ]
    ],
    "position_light": [
      314.03244,
      208.674118,
      232.758621
    ],
    "rotation_matrix_light": [
      [
        0.3147202479656832,
        0.37971935702143284,
        0.8699220513492277
      ],
      [
        0.5551254967376461,
        0.6697761255042425,
        -0.4931892380986296
      ],
      [
        -0.7699265214240903,
        0.6381325501866792,
        2.11612767198055e-07
      ]
    ],
    "servo_angle": [
      [
        143.736031,
        14.205343,
        -79.445583,
        253.513026,
        57.053132,
        -193.897512,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.297409,
        -35.953445,
        -20.914048,
        -242.357194,
        55.216688,
        87.904503,
        0.0
      ]
    ],
    "turn_angle": 833.3998455733333,
    "filename": "scan-0288_light-28_camera-288.png"
  },
  {
    "id": 289,
    "scan_id": "0289",
    "camera_id": 289,
    "light_id": 28,
    "position": [
      -183.019608,
      -136.381149,
      325.473022
    ],
    "rotation_matrix": [
      [
        0.7781540221904346,
        0.6280734946396623,
        -5.5497476443844285e-05
      ],
      [
        -6.30310444429405e-05,
        0.00016645398542231016,
        0.9999999841600786
      ],
      [
        0.628073493928804,
        -0.7781540063664725,
        0.000169114966620032
      ]
    ],
    "position_light": [
      314.03244,
      208.674118,
      232.758621
    ],
    "rotation_matrix_light": [
      [
        0.3147202479656832,
        0.37971935702143284,
        0.8699220513492277
      ],
      [
        0.5551254967376461,
        0.6697761255042425,
        -0.4931892380986296
      ],
      [
        -0.7699265214240903,
        0.6381325501866792,
        2.11612767198055e-07
      ]
    ],
    "servo_angle": [
      [
        140.845402,
        7.316213,
        -75.54099,
        253.737396,
        53.656695,
        -191.078044,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -76.297409,
        -35.953445,
        -20.914048,
        -242.357194,
        55.216688,
        87.904503,
        0.0
      ]
    ],
    "turn_angle": 833.3998455733333,
    "filename": "scan-0289_light-28_camera-289.png"
  },
  {
    "id": 290,
    "scan_id": "0290",
    "camera_id": 290,
    "light_id": 29,
    "position": [
      -148.244293,
      -136.381149,
      353.46994
    ],
    "rotation_matrix": [
      [
        0.8291834600655565,
        0.5589765539545823,
        -4.102160429320101e-05
      ],
      [
        -6.301100749050992e-05,
        0.00016685724686316128,
        0.9999999840941362
      ],
      [
        0.5589765519083292,
        -0.8291834442918645,
        0.00017357694511921373
      ]
    ],
    "position_light": [
      336.9711,
      206.897263,
      246.28714
    ],
    "rotation_matrix_light": [
      [
        0.34904560571369914,
        0.4132204621842869,
        0.8410802665406918
      ],
      [
        0.542742837890327,
        0.6425311095059612,
        -0.5409103301248674
      ],
      [
        -0.7639354534584131,
        0.645292664571079,
        2.1398715094322895e-07
      ]
    ],
    "servo_angle": [
      [
        137.591403,
        1.210316,
        -72.270604,
        253.976549,
        49.933215,
        -188.493031,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -69.242236,
        -35.12999,
        -24.265106,
        -235.215561,
        46.435307,
        85.557267,
        0.0
      ]
    ],
    "turn_angle": 879.725389515897,
    "filename": "scan-0290_light-29_camera-290.png"
  },
  {
    "id": 291,
    "scan_id": "0291",
    "camera_id": 291,
    "light_id": 29,
    "position": [
      -121.887672,
      -136.381149,
      371.658905
    ],
    "rotation_matrix": [
      [
        0.8620341113958936,
        0.5068502637730586,
        -3.005117630316967e-05
      ],
      [
        -6.29346301772582e-05,
        0.00016632717757969484,
        0.9999999841872511
      ],
      [
        0.5068502607566899,
        -0.8620340958735049,
        0.00017527813463169561
      ]
    ],
    "position_light": [
      336.9711,
      206.897263,
      246.28714
    ],
    "rotation_matrix_light": [
      [
        0.34904560571369914,
        0.4132204621842869,
        0.8410802665406918
      ],
      [
        0.542742837890327,
        0.6425311095059612,
        -0.5409103301248674
      ],
      [
        -0.7639354534584131,
        0.645292664571079,
        2.1398715094322895e-07
      ]
    ],
    "servo_angle": [
      [
        134.842981,
        -2.984021,
        -70.134102,
        254.163104,
        46.852019,
        -186.606739,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -69.242236,
        -35.12999,
        -24.265106,
        -235.215561,
        46.435307,
        85.557267,
        0.0
      ]
    ],
    "turn_angle": 879.725389515897,
    "filename": "scan-0291_light-29_camera-291.png"
  },
  {
    "id": 292,
    "scan_id": "0292",
    "camera_id": 292,
    "light_id": 29,
    "position": [
      -90.619629,
      -136.381149,
      390.325653
    ],
    "rotation_matrix": [
      [
        0.895409161214118,
        0.44524424047826716,
        -1.8296466235356856e-05
      ],
      [
        -6.268325838340583e-05,
        0.00016715236939418565,
        0.9999999840654471
      ],
      [
        0.445244236441797,
        -0.8954091457992911,
        0.00017757912264387832
      ]
    ],
    "position_light": [
      336.9711,
      206.897263,
      246.28714
    ],
    "rotation_matrix_light": [
      [
        0.34904560571369914,
        0.4132204621842869,
        0.8410802665406918
      ],
      [
        0.542742837890327,
        0.6425311095059612,
        -0.5409103301248674
      ],
      [
        -0.7639354534584131,
        0.645292664571079,
        2.1398715094322895e-07
      ]
    ],
    "servo_angle": [
      [
        131.230253,
        -7.510331,
        -67.938757,
        254.374525,
        42.872713,
        -184.377475,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -69.242236,
        -35.12999,
        -24.265106,
        -235.215561,
        46.435307,
        85.557267,
        0.0
      ]
    ],
    "turn_angle": 879.725389515897,
    "filename": "scan-0292_light-29_camera-292.png"
  },
  {
    "id": 293,
    "scan_id": "0293",
    "camera_id": 293,
    "light_id": 29,
    "position": [
      -59.016251,
      -136.381149,
      406.342255
    ],
    "rotation_matrix": [
      [
        0.9236628130826412,
        0.3832062208409544,
        -6.087277183375317e-06
      ],
      [
        -6.280724960722184e-05,
        0.0001672728532426393,
        0.9999999840375207
      ],
      [
        0.3832062157422693,
        -0.9236627979563679,
        0.0001785718429418437
      ]
    ],
    "position_light": [
      336.9711,
      206.897263,
      246.28714
    ],
    "rotation_matrix_light": [
      [
        0.34904560571369914,
        0.4132204621842869,
        0.8410802665406918
      ],
      [
        0.542742837890327,
        0.6425311095059612,
        -0.5409103301248674
      ],
      [
        -0.7639354534584131,
        0.645292664571079,
        2.1398715094322895e-07
      ]
    ],
    "servo_angle": [
      [
        127.15469,
        -11.598213,
        -66.069654,
        254.544293,
        38.461797,
        -182.052125,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -69.242236,
        -35.12999,
        -24.265106,
        -235.215561,
        46.435307,
        85.557267,
        0.0
      ]
    ],
    "turn_angle": 879.725389515897,
    "filename": "scan-0293_light-29_camera-293.png"
  },
  {
    "id": 294,
    "scan_id": "0294",
    "camera_id": 294,
    "light_id": 29,
    "position": [
      -30.67382,
      -136.381149,
      418.502991
    ],
    "rotation_matrix": [
      [
        0.9447658095089311,
        0.3277461901457248,
        5.2816915014630705e-06
      ],
      [
        -6.330232311971273e-05,
        0.0001663609853220227,
        0.999999984158419
      ],
      [
        0.32774618407503964,
        -0.9447657948766904,
        0.000177919266198312
      ]
    ],
    "position_light": [
      336.9711,
      206.897263,
      246.28714
    ],
    "rotation_matrix_light": [
      [
        0.34904560571369914,
        0.4132204621842869,
        0.8410802665406918
      ],
      [
        0.542742837890327,
        0.6425311095059612,
        -0.5409103301248674
      ],
      [
        -0.7639354534584131,
        0.645292664571079,
        2.1398715094322895e-07
      ]
    ],
    "servo_angle": [
      [
        123.113218,
        -14.838289,
        -64.685617,
        254.607605,
        34.153441,
        -179.820111,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -69.242236,
        -35.12999,
        -24.265106,
        -235.215561,
        46.435307,
        85.557267,
        0.0
      ]
    ],
    "turn_angle": 879.725389515897,
    "filename": "scan-0294_light-29_camera-294.png"
  },
  {
    "id": 295,
    "scan_id": "0295",
    "camera_id": 295,
    "light_id": 29,
    "position": [
      4.388375,
      -136.381149,
      430.899841
    ],
    "rotation_matrix": [
      [
        0.9657836883513157,
        0.2593489290705344,
        1.744978228726546e-05
      ],
      [
        -6.277213594177433e-05,
        0.00016647272506264965,
        0.9999999841732449
      ],
      [
        0.2593489220609697,
        -0.9657836741614542,
        0.00017705652865285249
      ]
    ],
    "position_light": [
      336.9711,
      206.897263,
      246.28714
    ],
    "rotation_matrix_light": [
      [
        0.34904560571369914,
        0.4132204621842869,
        0.8410802665406918
      ],
      [
        0.542742837890327,
        0.6425311095059612,
        -0.5409103301248674
      ],
      [
        -0.7639354534584131,
        0.645292664571079,
        2.1398715094322895e-07
      ]
    ],
    "servo_angle": [
      [
        117.596723,
        -18.255581,
        -63.367872,
        254.444254,
        28.35591,
        -176.708034,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -69.242236,
        -35.12999,
        -24.265106,
        -235.215561,
        46.435307,
        85.557267,
        0.0
      ]
    ],
    "turn_angle": 879.725389515897,
    "filename": "scan-0295_light-29_camera-295.png"
  },
  {
    "id": 296,
    "scan_id": "0296",
    "camera_id": 296,
    "light_id": 29,
    "position": [
      36.365791,
      -136.381149,
      439.822968
    ],
    "rotation_matrix": [
      [
        0.9803711661194552,
        0.1971607867226855,
        2.8643871592584635e-05
      ],
      [
        -6.274495436871252e-05,
        0.0001667140484211127,
        0.9999999841347482
      ],
      [
        0.19716077881934418,
        -0.9803711523628782,
        0.00017581249062531557
      ]
    ],
    "position_light": [
      336.9711,
      206.897263,
      246.28714
    ],
    "rotation_matrix_light": [
      [
        0.34904560571369914,
        0.4132204621842869,
        0.8410802665406918
      ],
      [
        0.542742837890327,
        0.6425311095059612,
        -0.5409103301248674
      ],
      [
        -0.7639354534584131,
        0.645292664571079,
        2.1398715094322895e-07
      ]
    ],
    "servo_angle": [
      [
        112.093348,
        -20.754709,
        -62.585899,
        253.841732,
        22.6461,
        -173.291372,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -69.242236,
        -35.12999,
        -24.265106,
        -235.215561,
        46.435307,
        85.557267,
        0.0
      ]
    ],
    "turn_angle": 879.725389515897,
    "filename": "scan-0296_light-29_camera-296.png"
  },
  {
    "id": 297,
    "scan_id": "0297",
    "camera_id": 297,
    "light_id": 29,
    "position": [
      74.637344,
      -136.381149,
      447.68399
    ],
    "rotation_matrix": [
      [
        0.9924118671101013,
        0.12295805907226581,
        4.1571909244461636e-05
      ],
      [
        -6.252828524988541e-05,
        0.0001665763422108446,
        0.9999999841712678
      ],
      [
        0.12295805020109904,
        -0.9924118540008998,
        0.00017300069538128682
      ]
    ],
    "position_light": [
      336.9711,
      206.897263,
      246.28714
    ],
    "rotation_matrix_light": [
      [
        0.34904560571369914,
        0.4132204621842869,
        0.8410802665406918
      ],
      [
        0.542742837890327,
        0.6425311095059612,
        -0.5409103301248674
      ],
      [
        -0.7639354534584131,
        0.645292664571079,
        2.1398715094322895e-07
      ]
    ],
    "servo_angle": [
      [
        105.043447,
        -22.887945,
        -62.301998,
        251.950398,
        15.404887,
        -167.866836,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -69.242236,
        -35.12999,
        -24.265106,
        -235.215561,
        46.435307,
        85.557267,
        0.0
      ]
    ],
    "turn_angle": 879.725389515897,
    "filename": "scan-0297_light-29_camera-297.png"
  },
  {
    "id": 298,
    "scan_id": "0298",
    "camera_id": 298,
    "light_id": 29,
    "position": [
      102.202454,
      -136.381149,
      451.51825
    ],
    "rotation_matrix": [
      [
        0.997570751982469,
        0.06966054967324375,
        5.10720355526087e-05
      ],
      [
        -6.285332794189052e-05,
        0.00016693245939070067,
        0.9999999840915065
      ],
      [
        0.06966054003946887,
        -0.9975707393226686,
        0.000170905336417837
      ]
    ],
    "position_light": [
      336.9711,
      206.897263,
      246.28714
    ],
    "rotation_matrix_light": [
      [
        0.34904560571369914,
        0.4132204621842869,
        0.8410802665406918
      ],
      [
        0.542742837890327,
        0.6425311095059612,
        -0.5409103301248674
      ],
      [
        -0.7639354534584131,
        0.645292664571079,
        2.1398715094322895e-07
      ]
    ],
    "servo_angle": [
      [
        99.838755,
        -23.784166,
        -62.704501,
        249.017943,
        10.076609,
        -162.278779,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -69.242236,
        -35.12999,
        -24.265106,
        -235.215561,
        46.435307,
        85.557267,
        0.0
      ]
    ],
    "turn_angle": 879.725389515897,
    "filename": "scan-0298_light-29_camera-298.png"
  },
  {
    "id": 299,
    "scan_id": "0299",
    "camera_id": 299,
    "light_id": 29,
    "position": [
      121.001534,
      -136.381149,
      453.276733
    ],
    "rotation_matrix": [
      [
        0.9994427040132322,
        0.03338080444270795,
        5.7353953633140775e-05
      ],
      [
        -6.297127287426679e-05,
        0.00016722863970308754,
        0.9999999840346001
      ],
      [
        0.03338079431854642,
        -0.9994426916683814,
        0.0001692374755986048
      ]
    ],
    "position_light": [
      336.9711,
      206.897263,
      246.28714
    ],
    "rotation_matrix_light": [
      [
        0.34904560571369914,
        0.4132204621842869,
        0.8410802665406918
      ],
      [
        0.542742837890327,
        0.6425311095059612,
        -0.5409103301248674
      ],
      [
        -0.7639354534584131,
        0.645292664571079,
        2.1398715094322895e-07
      ]
    ],
    "servo_angle": [
      [
        96.38571,
        -24.059415,
        -63.401504,
        245.619845,
        6.512124,
        -157.013125,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -69.242236,
        -35.12999,
        -24.265106,
        -235.215561,
        46.435307,
        85.557267,
        0.0
      ]
    ],
    "turn_angle": 879.725389515897,
    "filename": "scan-0299_light-29_camera-299.png"
  },
  {
    "id": 300,
    "scan_id": "0300",
    "camera_id": 300,
    "light_id": 30,
    "position": [
      134.035889,
      -136.381149,
      454.092987
    ],
    "rotation_matrix": [
      [
        0.9999658926458986,
        0.008258919258383832,
        6.162446551009546e-05
      ],
      [
        -6.300423709924927e-05,
        0.00016680435028482155,
        0.9999999841033874
      ],
      [
        0.008258908847866061,
        -0.9999658806324306,
        0.0001673190079368725
      ]
    ],
    "position_light": [
      -38.52552,
      219.461243,
      108.125603
    ],
    "rotation_matrix_light": [
      [
        0.22400770390442587,
        -0.4904895620575555,
        -0.8421641990158772
      ],
      [
        -0.3498585671388242,
        0.766054515751746,
        -0.5392211623220351
      ],
      [
        0.9096260394200661,
        0.41542805443174524,
        1.3776115964647673e-07
      ]
    ],
    "servo_angle": [
      [
        94.139315,
        -24.081473,
        -64.154543,
        242.212866,
        4.144376,
        -152.279978,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -128.040483,
        -3.453331,
        -29.463724,
        -157.018625,
        59.201666,
        143.733739,
        0.0
      ]
    ],
    "turn_angle": 893.5631805857854,
    "filename": "scan-0300_light-30_camera-300.png"
  },
  {
    "id": 301,
    "scan_id": "0301",
    "camera_id": 301,
    "light_id": 30,
    "position": [
      155.855042,
      -136.381149,
      454.725372
    ],
    "rotation_matrix": [
      [
        0.9994307908551561,
        -0.03373558346238053,
        6.854991067205621e-05
      ],
      [
        -6.297052226923033e-05,
        0.00016644830585837989,
        0.9999999841648374
      ],
      [
        -0.03373559433818857,
        -0.9994307793456306,
        0.00016422921465081286
      ]
    ],
    "position_light": [
      -38.52552,
      219.461243,
      108.125603
    ],
    "rotation_matrix_light": [
      [
        0.22400770390442587,
        -0.4904895620575555,
        -0.8421641990158772
      ],
      [
        -0.3498585671388242,
        0.766054515751746,
        -0.5392211623220351
      ],
      [
        0.9096260394200661,
        0.41542805443174524,
        1.3776115964647673e-07
      ]
    ],
    "servo_angle": [
      [
        90.960717,
        -23.810121,
        -66.024792,
        233.599591,
        0.561327,
        -141.377279,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -128.040483,
        -3.453331,
        -29.463724,
        -157.018625,
        59.201666,
        143.733739,
        0.0
      ]
    ],
    "turn_angle": 893.5631805857854,
    "filename": "scan-0301_light-30_camera-301.png"
  },
  {
    "id": 302,
    "scan_id": "0302",
    "camera_id": 302,
    "light_id": 30,
    "position": [
      210.870605,
      -136.381149,
      452.246429
    ],
    "rotation_matrix": [
      [
        0.9902507109586947,
        -0.13929652619737565,
        8.50596480921062e-05
      ],
      [
        -6.239211861101823e-05,
        0.00016709538681042302,
        0.9999999840931775
      ],
      [
        -0.13929653819468532,
        -0.990250700514004,
        0.0001567753202023625
      ]
    ],
    "position_light": [
      -38.52552,
      219.461243,
      108.125603
    ],
    "rotation_matrix_light": [
      [
        0.22400770390442587,
        -0.4904895620575555,
        -0.8421641990158772
      ],
      [
        -0.3498585671388242,
        0.766054515751746,
        -0.5392211623220351
      ],
      [
        0.9096260394200661,
        0.41542805443174524,
        1.3776115964647673e-07
      ]
    ],
    "servo_angle": [
      [
        89.886478,
        -22.57786,
        -71.263746,
        189.80476,
        -3.922412,
        -91.579798,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -128.040483,
        -3.453331,
        -29.463724,
        -157.018625,
        59.201666,
        143.733739,
        0.0
      ]
    ],
    "turn_angle": 893.5631805857854,
    "filename": "scan-0302_light-30_camera-302.png"
  },
  {
    "id": 303,
    "scan_id": "0303",
    "camera_id": 303,
    "light_id": 30,
    "position": [
      228.001236,
      -136.381149,
      450.2742
    ],
    "rotation_matrix": [
      [
        0.9850848312022915,
        -0.17206936703614403,
        9.090068098668858e-05
      ],
      [
        -6.304663470238503e-05,
        0.00016734179084620937,
        0.9999999840109235
      ],
      [
        -0.17206937949639647,
        -0.9850848211826766,
        0.00015399746526179037
      ]
    ],
    "position_light": [
      -38.52552,
      219.461243,
      108.125603
    ],
    "rotation_matrix_light": [
      [
        0.22400770390442587,
        -0.4904895620575555,
        -0.8421641990158772
      ],
      [
        -0.3498585671388242,
        0.766054515751746,
        -0.5392211623220351
      ],
      [
        0.9096260394200661,
        0.41542805443174524,
        1.3776115964647673e-07
      ]
    ],
    "servo_angle": [
      [
        90.943643,
        -22.712276,
        -70.731239,
        173.075481,
        -3.572163,
        -72.976775,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -128.040483,
        -3.453331,
        -29.463724,
        -157.018625,
        59.201666,
        143.733739,
        0.0
      ]
    ],
    "turn_angle": 893.5631805857854,
    "filename": "scan-0303_light-30_camera-303.png"
  },
  {
    "id": 304,
    "scan_id": "0304",
    "camera_id": 304,
    "light_id": 30,
    "position": [
      249.269211,
      -136.381149,
      447.01825
    ],
    "rotation_matrix": [
      [
        0.9771191172599702,
        -0.21269278631646577,
        9.661280865846944e-05
      ],
      [
        -6.253681926200738e-05,
        0.0001669397731098865,
        0.9999999841101291
      ],
      [
        -0.2126927990653252,
        -0.9771191077755313,
        0.00014981891340049014
      ]
    ],
    "position_light": [
      -38.52552,
      219.461243,
      108.125603
    ],
    "rotation_matrix_light": [
      [
        0.22400770390442587,
        -0.4904895620575555,
        -0.8421641990158772
      ],
      [
        -0.3498585671388242,
        0.766054515751746,
        -0.5392211623220351
      ],
      [
        0.9096260394200661,
        0.41542805443174524,
        1.3776115964647673e-07
      ]
    ],
    "servo_angle": [
      [
        91.296642,
        -23.282025,
        -68.388472,
        154.879144,
        -2.02913,
        -52.373098,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -128.040483,
        -3.453331,
        -29.463724,
        -157.018625,
        59.201666,
        143.733739,
        0.0
      ]
    ],
    "turn_angle": 893.5631805857854,
    "filename": "scan-0304_light-30_camera-304.png"
  },
  {
    "id": 305,
    "scan_id": "0305",
    "camera_id": 305,
    "light_id": 30,
    "position": [
      301.365936,
      -136.381149,
      435.147308
    ],
    "rotation_matrix": [
      [
        0.9501184043512587,
        -0.3118894118883286,
        0.00011164663331306168
      ],
      [
        -6.271575046207234e-05,
        0.00016691571049592957,
        0.99999998410294
      ],
      [
        -0.31188942556578103,
        -0.9501183962491718,
        0.0001390293099897133
      ]
    ],
    "position_light": [
      -38.52552,
      219.461243,
      108.125603
    ],
    "rotation_matrix_light": [
      [
        0.22400770390442587,
        -0.4904895620575555,
        -0.8421641990158772
      ],
      [
        -0.3498585671388242,
        0.766054515751746,
        -0.5392211623220351
      ],
      [
        0.9096260394200661,
        0.41542805443174524,
        1.3776115964647673e-07
      ]
    ],
    "servo_angle": [
      [
        85.838703,
        -24.491425,
        -61.718498,
        129.284489,
        5.723906,
        -20.871821,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -128.040483,
        -3.453331,
        -29.463724,
        -157.018625,
        59.201666,
        143.733739,
        0.0
      ]
    ],
    "turn_angle": 893.5631805857854,
    "filename": "scan-0305_light-30_camera-305.png"
  },
  {
    "id": 306,
    "scan_id": "0306",
    "camera_id": 306,
    "light_id": 30,
    "position": [
      327.974365,
      -136.381149,
      426.849854
    ],
    "rotation_matrix": [
      [
        0.9320326808726405,
        -0.3623742095183178,
        0.00011858049218155253
      ],
      [
        -6.244916288131175e-05,
        0.00016661182838095812,
        0.9999999841703002
      ],
      [
        -0.36237422353895543,
        -0.9320326735240954,
        0.00013265770303672042
      ]
    ],
    "position_light": [
      -38.52552,
      219.461243,
      108.125603
    ],
    "rotation_matrix_light": [
      [
        0.22400770390442587,
        -0.4904895620575555,
        -0.8421641990158772
      ],
      [
        -0.3498585671388242,
        0.766054515751746,
        -0.5392211623220351
      ],
      [
        0.9096260394200661,
        0.41542805443174524,
        1.3776115964647673e-07
      ]
    ],
    "servo_angle": [
      [
        81.209319,
        -24.351967,
        -59.475426,
        123.70726,
        10.840877,
        -12.471916,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -128.040483,
        -3.453331,
        -29.463724,
        -157.018625,
        59.201666,
        143.733739,
        0.0
      ]
    ],
    "turn_angle": 893.5631805857854,
    "filename": "scan-0306_light-30_camera-306.png"
  },
  {
    "id": 307,
    "scan_id": "0307",
    "camera_id": 307,
    "light_id": 30,
    "position": [
      364.293091,
      -136.381149,
      412.907928
    ],
    "rotation_matrix": [
      [
        0.9023168780483684,
        -0.43107335210621434,
        0.00012920123005827344
      ],
      [
        -6.316683418094993e-05,
        0.00016749986289088525,
        0.9999999839768734
      ],
      [
        -0.43107336684025976,
        -0.9023168717516634,
        0.0001239084144049052
      ]
    ],
    "position_light": [
      -38.52552,
      219.461243,
      108.125603
    ],
    "rotation_matrix_light": [
      [
        0.22400770390442587,
        -0.4904895620575555,
        -0.8421641990158772
      ],
      [
        -0.3498585671388242,
        0.766054515751746,
        -0.5392211623220351
      ],
      [
        0.9096260394200661,
        0.41542805443174524,
        1.3776115964647673e-07
      ]
    ],
    "servo_angle": [
      [
        74.449792,
        -23.19591,
        -57.505597,
        119.856869,
        18.182816,
        -5.004729,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -128.040483,
        -3.453331,
        -29.463724,
        -157.018625,
        59.201666,
        143.733739,
        0.0
      ]
    ],
    "turn_angle": 893.5631805857854,
    "filename": "scan-0307_light-30_camera-307.png"
  },
  {
    "id": 308,
    "scan_id": "0308",
    "camera_id": 308,
    "light_id": 30,
    "position": [
      380.890869,
      -136.381149,
      405.466675
    ],
    "rotation_matrix": [
      [
        0.8866802399817799,
        -0.4623831033982915,
        0.00013310754270637326
      ],
      [
        -6.295429179878353e-05,
        0.00016714973677695033,
        0.999999984048861
      ],
      [
        -0.46238311827164513,
        -0.8866802342179113,
        0.00011909936790416298
      ]
    ],
    "position_light": [
      -38.52552,
      219.461243,
      108.125603
    ],
    "rotation_matrix_light": [
      [
        0.22400770390442587,
        -0.4904895620575555,
        -0.8421641990158772
      ],
      [
        -0.3498585671388242,
        0.766054515751746,
        -0.5392211623220351
      ],
      [
        0.9096260394200661,
        0.41542805443174524,
        1.3776115964647673e-07
      ]
    ],
    "servo_angle": [
      [
        71.373295,
        -22.301294,
        -56.925248,
        118.918823,
        21.549115,
        -2.503482,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -128.040483,
        -3.453331,
        -29.463724,
        -157.018625,
        59.201666,
        143.733739,
        0.0
      ]
    ],
    "turn_angle": 893.5631805857854,
    "filename": "scan-0308_light-30_camera-308.png"
  },
  {
    "id": 309,
    "scan_id": "0309",
    "camera_id": 309,
    "light_id": 30,
    "position": [
      423.256012,
      -136.381149,
      383.138275
    ],
    "rotation_matrix": [
      [
        0.8403579799986156,
        -0.542031774778013,
        0.00014347000960329703
      ],
      [
        -6.30241577566637e-05,
        0.000166977578854699,
        0.9999999840732215
      ],
      [
        -0.542031790101468,
        -0.8403579756564968,
        0.0001061598447886225
      ]
    ],
    "position_light": [
      -38.52552,
      219.461243,
      108.125603
    ],
    "rotation_matrix_light": [
      [
        0.22400770390442587,
        -0.4904895620575555,
        -0.8421641990158772
      ],
      [
        -0.3498585671388242,
        0.766054515751746,
        -0.5392211623220351
      ],
      [
        0.9096260394200661,
        0.41542805443174524,
        1.3776115964647673e-07
      ]
    ],
    "servo_angle": [
      [
        63.865371,
        -18.99928,
        -56.164875,
        117.769183,
        29.929023,
        2.381499,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -128.040483,
        -3.453331,
        -29.463724,
        -157.018625,
        59.201666,
        143.733739,
        0.0
      ]
    ],
    "turn_angle": 893.5631805857854,
    "filename": "scan-0309_light-30_camera-309.png"
  },
  {
    "id": 310,
    "scan_id": "0310",
    "camera_id": 310,
    "light_id": 31,
    "position": [
      458.790344,
      -136.381149,
      360.271637
    ],
    "rotation_matrix": [
      [
        0.793548391325025,
        -0.6085071304630558,
        0.00015100027374281844
      ],
      [
        -6.26852458789906e-05,
        0.00016640149352303846,
        0.9999999841905514
      ],
      [
        -0.6085071459695647,
        -0.7935483882449517,
        9.3903218407132e-05
      ]
    ],
    "position_light": [
      -126.639694,
      212.311783,
      126.512985
    ],
    "rotation_matrix_light": [
      [
        0.28080128366666834,
        -0.6213086625799596,
        -0.7315231950486963
      ],
      [
        -0.3012724260614278,
        0.6666041630453063,
        -0.6818165553180182
      ],
      [
        0.9112549392931776,
        0.4118427316510133,
        1.3657222158736104e-07
      ]
    ],
    "servo_angle": [
      [
        58.112072,
        -15.117033,
        -56.235407,
        117.568189,
        36.583011,
        5.449344,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.588063,
        5.138457,
        -44.213033,
        -181.875253,
        51.124623,
        157.316965,
        0.0
      ]
    ],
    "turn_angle": 916.895719851607,
    "filename": "scan-0310_light-31_camera-310.png"
  },
  {
    "id": 311,
    "scan_id": "0311",
    "camera_id": 311,
    "light_id": 31,
    "position": [
      491.482361,
      -136.381149,
      335.313751
    ],
    "rotation_matrix": [
      [
        0.7429475868277385,
        -0.6693495783192485,
        0.00015884169484781108
      ],
      [
        -6.314871334872629e-05,
        0.00016721532625418867,
        0.9999999840256373
      ],
      [
        -0.6693495941875813,
        -0.7429475849902729,
        8.196365846979692e-05
      ]
    ],
    "position_light": [
      -126.639694,
      212.311783,
      126.512985
    ],
    "rotation_matrix_light": [
      [
        0.28080128366666834,
        -0.6213086625799596,
        -0.7315231950486963
      ],
      [
        -0.3012724260614278,
        0.6666041630453063,
        -0.6818165553180182
      ],
      [
        0.9112549392931776,
        0.4118427316510133,
        1.3657222158736104e-07
      ]
    ],
    "servo_angle": [
      [
        53.319567,
        -10.642978,
        -56.850133,
        117.674358,
        42.34754,
        7.804659,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.588063,
        5.138457,
        -44.213033,
        -181.875253,
        51.124623,
        157.316965,
        0.0
      ]
    ],
    "turn_angle": 916.895719851607,
    "filename": "scan-0311_light-31_camera-311.png"
  },
  {
    "id": 312,
    "scan_id": "0312",
    "camera_id": 312,
    "light_id": 31,
    "position": [
      510.428375,
      -136.381149,
      318.838013
    ],
    "rotation_matrix": [
      [
        0.7097549731978868,
        -0.7044486153160592,
        0.00016248124188456003
      ],
      [
        -6.316417454560463e-05,
        0.00016701026835008737,
        0.9999999840589286
      ],
      [
        -0.7044486312224293,
        -0.7097549721466256,
        7.40404532403316e-05
      ]
    ],
    "position_light": [
      -126.639694,
      212.311783,
      126.512985
    ],
    "rotation_matrix_light": [
      [
        0.28080128366666834,
        -0.6213086625799596,
        -0.7315231950486963
      ],
      [
        -0.3012724260614278,
        0.6666041630453063,
        -0.6818165553180182
      ],
      [
        0.9112549392931776,
        0.4118427316510133,
        1.3657222158736104e-07
      ]
    ],
    "servo_angle": [
      [
        50.763029,
        -7.639246,
        -57.458098,
        117.801899,
        45.531466,
        9.049926,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.588063,
        5.138457,
        -44.213033,
        -181.875253,
        51.124623,
        157.316965,
        0.0
      ]
    ],
    "turn_angle": 916.895719851607,
    "filename": "scan-0312_light-31_camera-312.png"
  },
  {
    "id": 313,
    "scan_id": "0313",
    "camera_id": 313,
    "light_id": 31,
    "position": [
      537.50238,
      -136.381149,
      292.244476
    ],
    "rotation_matrix": [
      [
        0.6564599336225271,
        -0.7543608735925089,
        0.00016715577711434726
      ],
      [
        -6.301563006388955e-05,
        0.00016674849204545428,
        0.9999999841119851
      ],
      [
        -0.754360889480186,
        -0.6564599337261086,
        6.192717827480099e-05
      ]
    ],
    "position_light": [
      -126.639694,
      212.311783,
      126.512985
    ],
    "rotation_matrix_light": [
      [
        0.28080128366666834,
        -0.6213086625799596,
        -0.7315231950486963
      ],
      [
        -0.3012724260614278,
        0.6666041630453063,
        -0.6818165553180182
      ],
      [
        0.9112549392931776,
        0.4118427316510133,
        1.3657222158736104e-07
      ]
    ],
    "servo_angle": [
      [
        47.379943,
        -2.7832,
        -58.67867,
        118.026498,
        49.8958,
        10.758944,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.588063,
        5.138457,
        -44.213033,
        -181.875253,
        51.124623,
        157.316965,
        0.0
      ]
    ],
    "turn_angle": 916.895719851607,
    "filename": "scan-0313_light-31_camera-313.png"
  },
  {
    "id": 314,
    "scan_id": "0314",
    "camera_id": 314,
    "light_id": 31,
    "position": [
      561.240479,
      -136.381149,
      265.359955
    ],
    "rotation_matrix": [
      [
        0.6028738821748898,
        -0.7978364827002019,
        0.00017048151661752664
      ],
      [
        -6.27013980325497e-05,
        0.0001663003404234198,
        0.9999999842063656
      ],
      [
        -0.7978364984505983,
        -0.6028738833427496,
        5.0232668971417205e-05
      ]
    ],
    "position_light": [
      -126.639694,
      212.311783,
      126.512985
    ],
    "rotation_matrix_light": [
      [
        0.28080128366666834,
        -0.6213086625799596,
        -0.7315231950486963
      ],
      [
        -0.3012724260614278,
        0.6666041630453063,
        -0.6818165553180182
      ],
      [
        0.9112549392931776,
        0.4118427316510133,
        1.3657222158736104e-07
      ]
    ],
    "servo_angle": [
      [
        44.660341,
        2.085337,
        -60.13702,
        118.243477,
        53.564506,
        12.259177,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.588063,
        5.138457,
        -44.213033,
        -181.875253,
        51.124623,
        157.316965,
        0.0
      ]
    ],
    "turn_angle": 916.895719851607,
    "filename": "scan-0314_light-31_camera-314.png"
  },
  {
    "id": 315,
    "scan_id": "0315",
    "camera_id": 315,
    "light_id": 31,
    "position": [
      578.145142,
      -136.381149,
      243.684784
    ],
    "rotation_matrix": [
      [
        0.5598496367028605,
        -0.8285942035460642,
        0.0001735901458754796
      ],
      [
        -6.270191564317074e-05,
        0.00016713428337256087,
        0.9999999840673005
      ],
      [
        -0.8285942193571862,
        -0.5598496386673791,
        4.161562397364538e-05
      ]
    ],
    "position_light": [
      -126.639694,
      212.311783,
      126.512985
    ],
    "rotation_matrix_light": [
      [
        0.28080128366666834,
        -0.6213086625799596,
        -0.7315231950486963
      ],
      [
        -0.3012724260614278,
        0.6666041630453063,
        -0.6818165553180182
      ],
      [
        0.9112549392931776,
        0.4118427316510133,
        1.3657222158736104e-07
      ]
    ],
    "servo_angle": [
      [
        42.854035,
        5.960308,
        -61.438322,
        118.403562,
        56.104543,
        13.372434,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.588063,
        5.138457,
        -44.213033,
        -181.875253,
        51.124623,
        157.316965,
        0.0
      ]
    ],
    "turn_angle": 916.895719851607,
    "filename": "scan-0315_light-31_camera-315.png"
  },
  {
    "id": 316,
    "scan_id": "0316",
    "camera_id": 316,
    "light_id": 31,
    "position": [
      596.354736,
      -136.381149,
      217.358231
    ],
    "rotation_matrix": [
      [
        0.5077795078406443,
        -0.8614870518190696,
        0.00017596931807362104
      ],
      [
        -6.296752487466861e-05,
        0.00016714783602578276,
        0.9999999840483458
      ],
      [
        -0.8614870674898167,
        -0.5077795108210734,
        3.062853854918224e-05
      ]
    ],
    "position_light": [
      -126.639694,
      212.311783,
      126.512985
    ],
    "rotation_matrix_light": [
      [
        0.28080128366666834,
        -0.6213086625799596,
        -0.7315231950486963
      ],
      [
        -0.3012724260614278,
        0.6666041630453063,
        -0.6818165553180182
      ],
      [
        0.9112549392931776,
        0.4118427316510133,
        1.3657222158736104e-07
      ]
    ],
    "servo_angle": [
      [
        41.02057,
        10.59611,
        -63.13972,
        118.581121,
        58.793663,
        14.659182,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.588063,
        5.138457,
        -44.213033,
        -181.875253,
        51.124623,
        157.316965,
        0.0
      ]
    ],
    "turn_angle": 916.895719851607,
    "filename": "scan-0316_light-31_camera-316.png"
  },
  {
    "id": 317,
    "scan_id": "0317",
    "camera_id": 317,
    "light_id": 31,
    "position": [
      611.193787,
      -136.381149,
      192.984085
    ],
    "rotation_matrix": [
      [
        0.4597328279220366,
        -0.8880572591390065,
        0.00017726060755912654
      ],
      [
        -6.298723487907498e-05,
        0.0001669974583233813,
        0.9999999840722287
      ],
      [
        -0.8880572745963042,
        -0.4597328317646727,
        2.083794260338001e-05
      ]
    ],
    "position_light": [
      -126.639694,
      212.311783,
      126.512985
    ],
    "rotation_matrix_light": [
      [
        0.28080128366666834,
        -0.6213086625799596,
        -0.7315231950486963
      ],
      [
        -0.3012724260614278,
        0.6666041630453063,
        -0.6818165553180182
      ],
      [
        0.9112549392931776,
        0.4118427316510133,
        1.3657222158736104e-07
      ]
    ],
    "servo_angle": [
      [
        39.605879,
        14.816459,
        -64.813845,
        118.732841,
        60.968611,
        15.816901,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.588063,
        5.138457,
        -44.213033,
        -181.875253,
        51.124623,
        157.316965,
        0.0
      ]
    ],
    "turn_angle": 916.895719851607,
    "filename": "scan-0317_light-31_camera-317.png"
  },
  {
    "id": 318,
    "scan_id": "0318",
    "camera_id": 318,
    "light_id": 31,
    "position": [
      623.804626,
      -136.381149,
      169.556763
    ],
    "rotation_matrix": [
      [
        0.4136853458666043,
        -0.9104199047725043,
        0.00017778990987404875
      ],
      [
        -6.288047279412456e-05,
        0.00016671118032485222,
        0.9999999841267142
      ],
      [
        -0.9104199199607147,
        -0.41368535047957217,
        1.1718338239208315e-05
      ]
    ],
    "position_light": [
      -126.639694,
      212.311783,
      126.512985
    ],
    "rotation_matrix_light": [
      [
        0.28080128366666834,
        -0.6213086625799596,
        -0.7315231950486963
      ],
      [
        -0.3012724260614278,
        0.6666041630453063,
        -0.6818165553180182
      ],
      [
        0.9112549392931776,
        0.4118427316510133,
        1.3657222158736104e-07
      ]
    ],
    "servo_angle": [
      [
        38.454922,
        18.809116,
        -66.499945,
        118.871554,
        62.824765,
        16.91824,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.588063,
        5.138457,
        -44.213033,
        -181.875253,
        51.124623,
        157.316965,
        0.0
      ]
    ],
    "turn_angle": 916.895719851607,
    "filename": "scan-0318_light-31_camera-318.png"
  },
  {
    "id": 319,
    "scan_id": "0319",
    "camera_id": 319,
    "light_id": 31,
    "position": [
      638.984192,
      -136.381149,
      136.756851
    ],
    "rotation_matrix": [
      [
        0.34941373378645635,
        -0.9369685217794703,
        0.0001784258989599996
      ],
      [
        -6.28930072350542e-05,
        0.00016697488975997432,
        0.9999999840819276
      ],
      [
        -0.9369685366573826,
        -0.34941373944620463,
        -5.854483396405818e-07
      ]
    ],
    "position_light": [
      -126.639694,
      212.311783,
      126.512985
    ],
    "rotation_matrix_light": [
      [
        0.28080128366666834,
        -0.6213086625799596,
        -0.7315231950486963
      ],
      [
        -0.3012724260614278,
        0.6666041630453063,
        -0.6818165553180182
      ],
      [
        0.9112549392931776,
        0.4118427316510133,
        1.3657222158736104e-07
      ]
    ],
    "servo_angle": [
      [
        37.125201,
        24.300859,
        -68.972316,
        119.062062,
        65.105996,
        18.464768,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -138.588063,
        5.138457,
        -44.213033,
        -181.875253,
        51.124623,
        157.316965,
        0.0
      ]
    ],
    "turn_angle": 916.895719851607,
    "filename": "scan-0319_light-31_camera-319.png"
  },
  {
    "id": 320,
    "scan_id": "0320",
    "camera_id": 320,
    "light_id": 32,
    "position": [
      639.439636,
      -136.381149,
      135.672134
    ],
    "rotation_matrix": [
      [
        0.34941373378645635,
        -0.9369685217794703,
        0.0001784258989599996
      ],
      [
        -6.28930072350542e-05,
        0.00016697488975997432,
        0.9999999840819276
      ],
      [
        -0.9369685366573826,
        -0.34941373944620463,
        -5.854483396405818e-07
      ]
    ],
    "position_light": [
      269.413788,
      209.500366,
      228.62439
    ],
    "rotation_matrix_light": [
      [
        0.25466094227552216,
        0.29725686202886314,
        0.9202098469675798
      ],
      [
        0.5986871256566864,
        0.6988275094964982,
        -0.3914253920530154
      ],
      [
        -0.7594218393306044,
        0.6505985474527861,
        2.1574664837986646e-07
      ]
    ],
    "servo_angle": [
      [
        37.086068,
        24.480768,
        -69.056254,
        119.068307,
        65.176012,
        18.386617,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -91.573495,
        -35.788663,
        -19.393132,
        -256.661429,
        72.756931,
        93.832496,
        0.0
      ]
    ],
    "turn_angle": 952.4154618000787,
    "filename": "scan-0320_light-32_camera-320.png"
  },
  {
    "id": 321,
    "scan_id": "0321",
    "camera_id": 321,
    "light_id": 32,
    "position": [
      631.636597,
      -136.381149,
      153.381638
    ],
    "rotation_matrix": [
      [
        0.38196198649349367,
        -0.9241780179022114,
        0.00017916552222940751
      ],
      [
        -6.302503751182131e-05,
        0.00016781653298347798,
        0.999999983932728
      ],
      [
        -0.9241780331201285,
        -0.3819619916483203,
        5.8531820589236006e-06
      ]
    ],
    "position_light": [
      269.413788,
      209.500366,
      228.62439
    ],
    "rotation_matrix_light": [
      [
        0.25466094227552216,
        0.29725686202886314,
        0.9202098469675798
      ],
      [
        0.5986871256566864,
        0.6988275094964982,
        -0.3914253920530154
      ],
      [
        -0.7594218393306044,
        0.6505985474527861,
        2.1574664837986646e-07
      ]
    ],
    "servo_angle": [
      [
        37.761758,
        21.531066,
        -67.70373,
        118.965462,
        63.991937,
        17.678957,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -91.573495,
        -35.788663,
        -19.393132,
        -256.661429,
        72.756931,
        93.832496,
        0.0
      ]
    ],
    "turn_angle": 952.4154618000787,
    "filename": "scan-0321_light-32_camera-321.png"
  },
  {
    "id": 322,
    "scan_id": "0322",
    "camera_id": 322,
    "light_id": 32,
    "position": [
      609.890564,
      -136.381149,
      195.250153
    ],
    "rotation_matrix": [
      [
        0.4641939249878264,
        -0.8857335765915217,
        0.00017692593647977706
      ],
      [
        -6.266674547594775e-05,
        0.0001669084418003952,
        0.9999999841072253
      ],
      [
        -0.8857335920451901,
        -0.4641939286978696,
        2.197184410918096e-05
      ]
    ],
    "position_light": [
      269.413788,
      209.500366,
      228.62439
    ],
    "rotation_matrix_light": [
      [
        0.25466094227552216,
        0.29725686202886314,
        0.9202098469675798
      ],
      [
        0.5986871256566864,
        0.6988275094964982,
        -0.3914253920530154
      ],
      [
        -0.7594218393306044,
        0.6505985474527861,
        2.1574664837986646e-07
      ]
    ],
    "servo_angle": [
      [
        39.727461,
        14.426963,
        -64.654563,
        118.71909,
        60.777587,
        15.709987,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -91.573495,
        -35.788663,
        -19.393132,
        -256.661429,
        72.756931,
        93.832496,
        0.0
      ]
    ],
    "turn_angle": 952.4154618000787,
    "filename": "scan-0322_light-32_camera-322.png"
  },
  {
    "id": 323,
    "scan_id": "0323",
    "camera_id": 323,
    "light_id": 32,
    "position": [
      593.248535,
      -136.381149,
      222.101639
    ],
    "rotation_matrix": [
      [
        0.5171470748361898,
        -0.8558965310970263,
        0.00017619434976606785
      ],
      [
        -6.309117533193076e-05,
        0.00016773865175240266,
        0.9999999839416238
      ],
      [
        -0.8558965469073208,
        -0.5171470776479563,
        3.274603498132356e-05
      ]
    ],
    "position_light": [
      269.413788,
      209.500366,
      228.62439
    ],
    "rotation_matrix_light": [
      [
        0.25466094227552216,
        0.29725686202886314,
        0.9202098469675798
      ],
      [
        0.5986871256566864,
        0.6988275094964982,
        -0.3914253920530154
      ],
      [
        -0.7594218393306044,
        0.6505985474527861,
        2.1574664837986646e-07
      ]
    ],
    "servo_angle": [
      [
        41.325498,
        9.766753,
        -62.824421,
        118.550354,
        58.337302,
        14.430973,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -91.573495,
        -35.788663,
        -19.393132,
        -256.661429,
        72.756931,
        93.832496,
        0.0
      ]
    ],
    "turn_angle": 952.4154618000787,
    "filename": "scan-0323_light-32_camera-323.png"
  },
  {
    "id": 324,
    "scan_id": "0324",
    "camera_id": 324,
    "light_id": 32,
    "position": [
      570.98938,
      -136.381149,
      253.149963
    ],
    "rotation_matrix": [
      [
        0.5786189116443083,
        -0.8155980169172803,
        0.00017288191204284376
      ],
      [
        -6.306703823982795e-05,
        0.00016722714551248297,
        0.999999984028815
      ],
      [
        -0.8155980328017622,
        -0.5786189133062289,
        4.532343761259883e-05
      ]
    ],
    "position_light": [
      269.413788,
      209.500366,
      228.62439
    ],
    "rotation_matrix_light": [
      [
        0.25466094227552216,
        0.29725686202886314,
        0.9202098469675798
      ],
      [
        0.5986871256566864,
        0.6988275094964982,
        -0.3914253920530154
      ],
      [
        -0.7594218393306044,
        0.6505985474527861,
        2.1574664837986646e-07
      ]
    ],
    "servo_angle": [
      [
        43.605984,
        4.274322,
        -60.857915,
        118.335323,
        55.035576,
        12.894071,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -91.573495,
        -35.788663,
        -19.393132,
        -256.661429,
        72.756931,
        93.832496,
        0.0
      ]
    ],
    "turn_angle": 952.4154618000787,
    "filename": "scan-0324_light-32_camera-324.png"
  },
  {
    "id": 325,
    "scan_id": "0325",
    "camera_id": 325,
    "light_id": 32,
    "position": [
      549.72583,
      -136.381149,
      278.868347
    ],
    "rotation_matrix": [
      [
        0.6297655284400873,
        -0.7767852666561705,
        0.0001693944493139088
      ],
      [
        -6.298119199454888e-05,
        0.00016701020027809488,
        0.999999984070481
      ],
      [
        -0.7767852825729558,
        -0.6297655290768895,
        5.625440501522139e-05
      ]
    ],
    "position_light": [
      269.413788,
      209.500366,
      228.62439
    ],
    "rotation_matrix_light": [
      [
        0.25466094227552216,
        0.29725686202886314,
        0.9202098469675798
      ],
      [
        0.5986871256566864,
        0.6988275094964982,
        -0.3914253920530154
      ],
      [
        -0.7594218393306044,
        0.6505985474527861,
        2.1574664837986646e-07
      ]
    ],
    "servo_angle": [
      [
        45.951903,
        -0.353458,
        -59.380143,
        118.136793,
        51.801515,
        11.526364,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -91.573495,
        -35.788663,
        -19.393132,
        -256.661429,
        72.756931,
        93.832496,
        0.0
      ]
    ],
    "turn_angle": 952.4154618000787,
    "filename": "scan-0325_light-32_camera-325.png"
  },
  {
    "id": 326,
    "scan_id": "0326",
    "camera_id": 326,
    "light_id": 32,
    "position": [
      524.079773,
      -136.381149,
      305.91449
    ],
    "rotation_matrix": [
      [
        0.6838156627258472,
        -0.7296547896923342,
        0.0001651963869721551
      ],
      [
        -6.290851436230316e-05,
        0.00016744707033455875,
        0.9999999840019987
      ],
      [
        -0.7296548056809669,
        -0.6838156621784225,
        6.860143055542611e-05
      ]
    ],
    "position_light": [
      269.413788,
      209.500366,
      228.62439
    ],
    "rotation_matrix_light": [
      [
        0.25466094227552216,
        0.29725686202886314,
        0.9202098469675798
      ],
      [
        0.5986871256566864,
        0.6988275094964982,
        -0.3914253920530154
      ],
      [
        -0.7594218393306044,
        0.6505985474527861,
        2.1574664837986646e-07
      ]
    ],
    "servo_angle": [
      [
        49.018373,
        -5.277228,
        -58.019081,
        117.910761,
        47.758095,
        9.917155,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -91.573495,
        -35.788663,
        -19.393132,
        -256.661429,
        72.756931,
        93.832496,
        0.0
      ]
    ],
    "turn_angle": 952.4154618000787,
    "filename": "scan-0326_light-32_camera-326.png"
  },
  {
    "id": 327,
    "scan_id": "0327",
    "camera_id": 327,
    "light_id": 32,
    "position": [
      515.763794,
      -136.381149,
      313.898132
    ],
    "rotation_matrix": [
      [
        0.69983060221702,
        -0.714308827725341,
        0.0001638115123925865
      ],
      [
        -6.298939391435887e-05,
        0.00016761602215020766,
        0.9999999839686023
      ],
      [
        -0.7143088437314065,
        -0.6998306013161454,
        7.230894159648837e-05
      ]
    ],
    "position_light": [
      269.413788,
      209.500366,
      228.62439
    ],
    "rotation_matrix_light": [
      [
        0.25466094227552216,
        0.29725686202886314,
        0.9202098469675798
      ],
      [
        0.5986871256566864,
        0.6988275094964982,
        -0.3914253920530154
      ],
      [
        -0.7594218393306044,
        0.6505985474527861,
        2.1574664837986646e-07
      ]
    ],
    "servo_angle": [
      [
        50.071584,
        -6.736379,
        -57.66465,
        117.843152,
        46.408264,
        9.39095,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -91.573495,
        -35.788663,
        -19.393132,
        -256.661429,
        72.756931,
        93.832496,
        0.0
      ]
    ],
    "turn_angle": 952.4154618000787,
    "filename": "scan-0327_light-32_camera-327.png"
  },
  {
    "id": 328,
    "scan_id": "0328",
    "camera_id": 328,
    "light_id": 32,
    "position": [
      478.493256,
      -136.381149,
      345.723358
    ],
    "rotation_matrix": [
      [
        0.7640008256750026,
        -0.6452152463387633,
        0.00015575597335798497
      ],
      [
        -6.264468199179696e-05,
        0.00016722385703210607,
        0.9999999840559126
      ],
      [
        -0.6452152620975096,
        -0.7640008232509901,
        8.733986092196444e-05
      ]
    ],
    "position_light": [
      269.413788,
      209.500366,
      228.62439
    ],
    "rotation_matrix_light": [
      [
        0.25466094227552216,
        0.29725686202886314,
        0.9202098469675798
      ],
      [
        0.5986871256566864,
        0.6988275094964982,
        -0.3914253920530154
      ],
      [
        -0.7594218393306044,
        0.6505985474527861,
        2.1574664837986646e-07
      ]
    ],
    "servo_angle": [
      [
        55.165465,
        -12.525889,
        -56.54171,
        117.610416,
        40.098795,
        6.907407,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -91.573495,
        -35.788663,
        -19.393132,
        -256.661429,
        72.756931,
        93.832496,
        0.0
      ]
    ],
    "turn_angle": 952.4154618000787,
    "filename": "scan-0328_light-32_camera-328.png"
  },
  {
    "id": 329,
    "scan_id": "0329",
    "camera_id": 329,
    "light_id": 32,
    "position": [
      440.744507,
      -136.381149,
      372.394775
    ],
    "rotation_matrix": [
      [
        0.8183018180668602,
        -0.5747887548283273,
        0.00014788973050727794
      ],
      [
        -6.301245325796012e-05,
        0.00016758595617238914,
        0.999999983972189
      ],
      [
        -0.5747887703999637,
        -0.818301814270168,
        0.00010091704307146898
      ]
    ],
    "position_light": [
      269.413788,
      209.500366,
      228.62439
    ],
    "rotation_matrix_light": [
      [
        0.25466094227552216,
        0.29725686202886314,
        0.9202098469675798
      ],
      [
        0.5986871256566864,
        0.6988275094964982,
        -0.3914253920530154
      ],
      [
        -0.7594218393306044,
        0.6505985474527861,
        2.1574664837986646e-07
      ]
    ],
    "servo_angle": [
      [
        60.964887,
        -17.215033,
        -56.122075,
        117.613568,
        33.252694,
        3.97627,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -91.573495,
        -35.788663,
        -19.393132,
        -256.661429,
        72.756931,
        93.832496,
        0.0
      ]
    ],
    "turn_angle": 952.4154618000787,
    "filename": "scan-0329_light-32_camera-329.png"
  },
  {
    "id": 330,
    "scan_id": "0330",
    "camera_id": 330,
    "light_id": 33,
    "position": [
      428.602325,
      -136.381149,
      379.954437
    ],
    "rotation_matrix": [
      [
        0.8338081492729899,
        -0.5520542993366538,
        0.00014418691994805277
      ],
      [
        -6.253294142422039e-05,
        0.00016673439843700733,
        0.9999999841446358
      ],
      [
        -0.5520543146245511,
        -0.8338081450690901,
        0.0001045029210174353
      ]
    ],
    "position_light": [
      271.634277,
      201.634476,
      301.484833
    ],
    "rotation_matrix_light": [
      [
        0.2982518742200435,
        0.274303000041275,
        0.9142229945109606
      ],
      [
        0.6729043780768109,
        0.6188726699877024,
        -0.40521144641699447
      ],
      [
        -0.6769383409803966,
        0.7360397288942009,
        2.440800170866453e-07
      ]
    ],
    "servo_angle": [
      [
        62.964968,
        -18.47978,
        -56.135655,
        117.707475,
        30.954732,
        2.889254,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -89.633116,
        -40.324942,
        -26.728252,
        -259.397875,
        68.005106,
        112.482501,
        0.0
      ]
    ],
    "turn_angle": 984.5982187870252,
    "filename": "scan-0330_light-33_camera-330.png"
  },
  {
    "id": 331,
    "scan_id": "0331",
    "camera_id": 331,
    "light_id": 33,
    "position": [
      403.00238,
      -136.381149,
      394.436066
    ],
    "rotation_matrix": [
      [
        0.8637015184064774,
        -0.5040036387440262,
        0.00013869076031702843
      ],
      [
        -6.305636276560111e-05,
        0.00016711959074061644,
        0.9999999840474688
      ],
      [
        -0.5040036538818354,
        -0.8637015133735867,
        0.00011256080799831869
      ]
    ],
    "position_light": [
      271.634277,
      201.634476,
      301.484833
    ],
    "rotation_matrix_light": [
      [
        0.2982518742200435,
        0.274303000041275,
        0.9142229945109606
      ],
      [
        0.6729043780768109,
        0.6188726699877024,
        -0.40521144641699447
      ],
      [
        -0.6769383409803966,
        0.7360397288942009,
        2.440800170866453e-07
      ]
    ],
    "servo_angle": [
      [
        67.378576,
        -20.759006,
        -56.40758,
        118.147507,
        25.973036,
        0.262587,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -89.633116,
        -40.324942,
        -26.728252,
        -259.397875,
        68.005106,
        112.482501,
        0.0
      ]
    ],
    "turn_angle": 984.5982187870252,
    "filename": "scan-0331_light-33_camera-331.png"
  },
  {
    "id": 332,
    "scan_id": "0332",
    "camera_id": 332,
    "light_id": 33,
    "position": [
      362.796448,
      -136.381149,
      413.544922
    ],
    "rotation_matrix": [
      [
        0.9036617171002115,
        -0.4282469900124008,
        0.00012881310693149683
      ],
      [
        -6.326097984904466e-05,
        0.00016730200297060405,
        0.9999999840040442
      ],
      [
        -0.4282470047128716,
        -0.9036617107941217,
        0.00012409309107314082
      ]
    ],
    "position_light": [
      271.634277,
      201.634476,
      301.484833
    ],
    "rotation_matrix_light": [
      [
        0.2982518742200435,
        0.274303000041275,
        0.9142229945109606
      ],
      [
        0.6729043780768109,
        0.6188726699877024,
        -0.40521144641699447
      ],
      [
        -0.6769383409803966,
        0.7360397288942009,
        2.440800170866453e-07
      ]
    ],
    "servo_angle": [
      [
        74.729224,
        -23.265352,
        -57.566789,
        119.961033,
        17.878403,
        -5.252591,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -89.633116,
        -40.324942,
        -26.728252,
        -259.397875,
        68.005106,
        112.482501,
        0.0
      ]
    ],
    "turn_angle": 984.5982187870252,
    "filename": "scan-0332_light-33_camera-332.png"
  },
  {
    "id": 333,
    "scan_id": "0333",
    "camera_id": 333,
    "light_id": 33,
    "position": [
      334.822052,
      -136.381149,
      424.457733
    ],
    "rotation_matrix": [
      [
        0.9268847851625872,
        -0.3753459476043683,
        0.00012104165878931705
      ],
      [
        -6.302633735411067e-05,
        0.00016684209355632973,
        0.9999999840956981
      ],
      [
        -0.3753459618295968,
        -0.9268847780499443,
        0.00013098671772382442
      ]
    ],
    "position_light": [
      271.634277,
      201.634476,
      301.484833
    ],
    "rotation_matrix_light": [
      [
        0.2982518742200435,
        0.274303000041275,
        0.9142229945109606
      ],
      [
        0.6729043780768109,
        0.6188726699877024,
        -0.40521144641699447
      ],
      [
        -0.6769383409803966,
        0.7360397288942009,
        2.440800170866453e-07
      ]
    ],
    "servo_angle": [
      [
        79.951104,
        -24.219098,
        -59.019007,
        122.725554,
        12.208585,
        -10.787592,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -89.633116,
        -40.324942,
        -26.728252,
        -259.397875,
        68.005106,
        112.482501,
        0.0
      ]
    ],
    "turn_angle": 984.5982187870252,
    "filename": "scan-0333_light-33_camera-333.png"
  },
  {
    "id": 334,
    "scan_id": "0334",
    "camera_id": 334,
    "light_id": 33,
    "position": [
      289.7388,
      -136.381149,
      438.288666
    ],
    "rotation_matrix": [
      [
        0.957090374383615,
        -0.2897895846705768,
        0.0001089893880581172
      ],
      [
        -6.317595871699333e-05,
        0.00016744661264261884,
        0.9999999839852152
      ],
      [
        -0.28978959827956274,
        -0.9570903659415275,
        0.00014195380634557386
      ]
    ],
    "position_light": [
      271.634277,
      201.634476,
      301.484833
    ],
    "rotation_matrix_light": [
      [
        0.2982518742200435,
        0.274303000041275,
        0.9142229945109606
      ],
      [
        0.6729043780768109,
        0.6188726699877024,
        -0.40521144641699447
      ],
      [
        -0.6769383409803966,
        0.7360397288942009,
        2.440800170866453e-07
      ]
    ],
    "servo_angle": [
      [
        87.62404,
        -24.367895,
        -62.968921,
        132.935834,
        3.650772,
        -25.803785,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -89.633116,
        -40.324942,
        -26.728252,
        -259.397875,
        68.005106,
        112.482501,
        0.0
      ]
    ],
    "turn_angle": 984.5982187870252,
    "filename": "scan-0334_light-33_camera-334.png"
  },
  {
    "id": 335,
    "scan_id": "0335",
    "camera_id": 335,
    "light_id": 33,
    "position": [
      253.276154,
      -136.381149,
      446.303436
    ],
    "rotation_matrix": [
      [
        0.9754235735435219,
        -0.22033801908997594,
        9.75658300322868e-05
      ],
      [
        -6.242830238920027e-05,
        0.00016643423969947557,
        0.9999999842011754
      ],
      [
        -0.22033803184718895,
        -0.975423564223845,
        0.00014858855236404844
      ]
    ],
    "position_light": [
      271.634277,
      201.634476,
      301.484833
    ],
    "rotation_matrix_light": [
      [
        0.2982518742200435,
        0.274303000041275,
        0.9142229945109606
      ],
      [
        0.6729043780768109,
        0.6188726699877024,
        -0.40521144641699447
      ],
      [
        -0.6769383409803966,
        0.7360397288942009,
        2.440800170866453e-07
      ]
    ],
    "servo_angle": [
      [
        91.177238,
        -23.411686,
        -67.836312,
        151.946574,
        -1.610871,
        -48.978667,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -89.633116,
        -40.324942,
        -26.728252,
        -259.397875,
        68.005106,
        112.482501,
        0.0
      ]
    ],
    "turn_angle": 984.5982187870252,
    "filename": "scan-0335_light-33_camera-335.png"
  },
  {
    "id": 336,
    "scan_id": "0336",
    "camera_id": 336,
    "light_id": 33,
    "position": [
      219.806839,
      -136.381149,
      451.289398
    ],
    "rotation_matrix": [
      [
        0.9876940688017903,
        -0.1563982691805349,
        8.860642260292984e-05
      ],
      [
        -6.321362910184647e-05,
        0.00016733365906906883,
        0.9999999840017421
      ],
      [
        -0.1563982815052719,
        -0.9876940586015389,
        0.00015538796039327174
      ]
    ],
    "position_light": [
      271.634277,
      201.634476,
      301.484833
    ],
    "rotation_matrix_light": [
      [
        0.2982518742200435,
        0.274303000041275,
        0.9142229945109606
      ],
      [
        0.6729043780768109,
        0.6188726699877024,
        -0.40521144641699447
      ],
      [
        -0.6769383409803966,
        0.7360397288942009,
        2.440800170866453e-07
      ]
    ],
    "servo_angle": [
      [
        90.471468,
        -22.601466,
        -71.173791,
        180.966886,
        -3.842771,
        -81.769729,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -89.633116,
        -40.324942,
        -26.728252,
        -259.397875,
        68.005106,
        112.482501,
        0.0
      ]
    ],
    "turn_angle": 984.5982187870252,
    "filename": "scan-0336_light-33_camera-336.png"
  },
  {
    "id": 337,
    "scan_id": "0337",
    "camera_id": 337,
    "light_id": 33,
    "position": [
      193.475723,
      -136.381149,
      453.662689
    ],
    "rotation_matrix": [
      [
        0.9943691501459837,
        -0.10597163223491339,
        7.99963890012606e-05
      ],
      [
        -6.265160658050495e-05,
        0.00016700283429377238,
        0.9999999840924144
      ],
      [
        -0.1059716439087843,
        -0.9943691393398738,
        0.00015942317339717738
      ]
    ],
    "position_light": [
      271.634277,
      201.634476,
      301.484833
    ],
    "rotation_matrix_light": [
      [
        0.2982518742200435,
        0.274303000041275,
        0.9142229945109606
      ],
      [
        0.6729043780768109,
        0.6188726699877024,
        -0.40521144641699447
      ],
      [
        -0.6769383409803966,
        0.7360397288942009,
        2.440800170866453e-07
      ]
    ],
    "servo_angle": [
      [
        89.035464,
        -22.816153,
        -70.297853,
        206.598783,
        -3.412995,
        -110.265842,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -89.633116,
        -40.324942,
        -26.728252,
        -259.397875,
        68.005106,
        112.482501,
        0.0
      ]
    ],
    "turn_angle": 984.5982187870252,
    "filename": "scan-0337_light-33_camera-337.png"
  },
  {
    "id": 338,
    "scan_id": "0338",
    "camera_id": 338,
    "light_id": 33,
    "position": [
      153.981247,
      -136.381149,
      454.707062
    ],
    "rotation_matrix": [
      [
        0.9995459129523824,
        -0.030132429005558056,
        6.798833321804837e-05
      ],
      [
        -6.297777569653704e-05,
        0.00016723357507186787,
        0.9999999840333655
      ],
      [
        -0.0301324398943766,
        -0.9995459012747521,
        0.00016525996311633762
      ]
    ],
    "position_light": [
      271.634277,
      201.634476,
      301.484833
    ],
    "rotation_matrix_light": [
      [
        0.2982518742200435,
        0.274303000041275,
        0.9142229945109606
      ],
      [
        0.6729043780768109,
        0.6188726699877024,
        -0.40521144641699447
      ],
      [
        -0.6769383409803966,
        0.7360397288942009,
        2.440800170866453e-07
      ]
    ],
    "servo_angle": [
      [
        91.191791,
        -23.847592,
        -65.832908,
        234.517412,
        0.842764,
        -142.495406,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -89.633116,
        -40.324942,
        -26.728252,
        -259.397875,
        68.005106,
        112.482501,
        0.0
      ]
    ],
    "turn_angle": 984.5982187870252,
    "filename": "scan-0338_light-33_camera-338.png"
  },
  {
    "id": 339,
    "scan_id": "0339",
    "camera_id": 339,
    "light_id": 33,
    "position": [
      142.183929,
      -136.381149,
      454.436462
    ],
    "rotation_matrix": [
      [
        0.9999723808605385,
        -0.0074319169130405765,
        6.424253666959803e-05
      ],
      [
        -6.30046458982049e-05,
        0.00016679813550468658,
        0.999999984104398
      ],
      [
        -0.007431927510441121,
        -0.999972369012954,
        0.0001663252833902229
      ]
    ],
    "position_light": [
      271.634277,
      201.634476,
      301.484833
    ],
    "rotation_matrix_light": [
      [
        0.2982518742200435,
        0.274303000041275,
        0.9142229945109606
      ],
      [
        0.6729043780768109,
        0.6188726699877024,
        -0.40521144641699447
      ],
      [
        -0.6769383409803966,
        0.7360397288942009,
        2.440800170866453e-07
      ]
    ],
    "servo_angle": [
      [
        92.843456,
        -24.02412,
        -64.759185,
        239.488795,
        2.736848,
        -148.711769,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -89.633116,
        -40.324942,
        -26.728252,
        -259.397875,
        68.005106,
        112.482501,
        0.0
      ]
    ],
    "turn_angle": 984.5982187870252,
    "filename": "scan-0339_light-33_camera-339.png"
  },
  {
    "id": 340,
    "scan_id": "0340",
    "camera_id": 340,
    "light_id": 34,
    "position": [
      126.007462,
      -136.381149,
      453.62912
    ],
    "rotation_matrix": [
      [
        0.9997184075021872,
        0.023729774943112104,
        5.9012201697421565e-05
      ],
      [
        -6.298864395473495e-05,
        0.00016682442524013075,
        0.9999999841010208
      ],
      [
        0.023729764721156274,
        -0.9997183953247837,
        0.00016827215507858595
      ]
    ],
    "position_light": [
      214.170578,
      214.751892,
      180.201859
    ],
    "rotation_matrix_light": [
      [
        0.14348184324937835,
        0.1946905453465144,
        0.9703136360014929
      ],
      [
        0.5756551604448616,
        0.7811079877095592,
        -0.24185005228348339
      ],
      [
        -0.8050056502354263,
        0.5932671431058691,
        1.9673483492299582e-07
      ]
    ],
    "servo_angle": [
      [
        95.502954,
        -24.08451,
        -63.661513,
        244.433135,
        5.589031,
        -155.320436,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.708584,
        -23.621732,
        -20.700335,
        -273.202549,
        94.190595,
        80.575914,
        0.0
      ]
    ],
    "turn_angle": 1001.9653948056522,
    "filename": "scan-0340_light-34_camera-340.png"
  },
  {
    "id": 341,
    "scan_id": "0341",
    "camera_id": 341,
    "light_id": 34,
    "position": [
      102.94548,
      -136.381149,
      451.60083
    ],
    "rotation_matrix": [
      [
        0.9976698920000818,
        0.06822597718631374,
        5.131780869314234e-05
      ],
      [
        -6.285957439610551e-05,
        0.00016702284661840316,
        0.9999999840760211
      ],
      [
        0.06822596752863824,
        -0.9976698793390232,
        0.00017092232123605555
      ]
    ],
    "position_light": [
      214.170578,
      214.751892,
      180.201859
    ],
    "rotation_matrix_light": [
      [
        0.14348184324937835,
        0.1946905453465144,
        0.9703136360014929
      ],
      [
        0.5756551604448616,
        0.7811079877095592,
        -0.24185005228348339
      ],
      [
        -0.8050056502354263,
        0.5932671431058691,
        1.9673483492299582e-07
      ]
    ],
    "servo_angle": [
      [
        99.699584,
        -23.80038,
        -62.724612,
        248.90994,
        9.93377,
        -162.097896,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.708584,
        -23.621732,
        -20.700335,
        -273.202549,
        94.190595,
        80.575914,
        0.0
      ]
    ],
    "turn_angle": 1001.9653948056522,
    "filename": "scan-0341_light-34_camera-341.png"
  },
  {
    "id": 342,
    "scan_id": "0342",
    "camera_id": 342,
    "light_id": 34,
    "position": [
      66.484581,
      -136.381149,
      446.259735
    ],
    "rotation_matrix": [
      [
        0.9903281436999579,
        0.13874496855565607,
        3.868185141216174e-05
      ],
      [
        -6.239699736820814e-05,
        0.0001665765037572875,
        0.9999999841794416
      ],
      [
        0.13874495991714564,
        -0.990328130446045,
        0.00017362266918774516
      ]
    ],
    "position_light": [
      214.170578,
      214.751892,
      180.201859
    ],
    "rotation_matrix_light": [
      [
        0.14348184324937835,
        0.1946905453465144,
        0.9703136360014929
      ],
      [
        0.5756551604448616,
        0.7811079877095592,
        -0.24185005228348339
      ],
      [
        -0.8050056502354263,
        0.5932671431058691,
        1.9673483492299582e-07
      ]
    ],
    "servo_angle": [
      [
        106.575135,
        -22.516898,
        -62.291628,
        252.512756,
        16.973416,
        -169.196843,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.708584,
        -23.621732,
        -20.700335,
        -273.202549,
        94.190595,
        80.575914,
        0.0
      ]
    ],
    "turn_angle": 1001.9653948056522,
    "filename": "scan-0342_light-34_camera-342.png"
  },
  {
    "id": 343,
    "scan_id": "0343",
    "camera_id": 343,
    "light_id": 34,
    "position": [
      37.974686,
      -136.381149,
      440.214264
    ],
    "rotation_matrix": [
      [
        0.9809943458145103,
        0.1940363178043666,
        2.9204190672871277e-05
      ],
      [
        -6.278483863184081e-05,
        0.0001669140182554707,
        0.9999999840988875
      ],
      [
        0.19403630984438439,
        -0.9809943320491888,
        0.00017592424704787613
      ]
    ],
    "position_light": [
      214.170578,
      214.751892,
      180.201859
    ],
    "rotation_matrix_light": [
      [
        0.14348184324937835,
        0.1946905453465144,
        0.9703136360014929
      ],
      [
        0.5756551604448616,
        0.7811079877095592,
        -0.24185005228348339
      ],
      [
        -0.8050056502354263,
        0.5932671431058691,
        1.9673483492299582e-07
      ]
    ],
    "servo_angle": [
      [
        111.805838,
        -20.863857,
        -62.558454,
        253.793661,
        22.349365,
        -173.098399,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.708584,
        -23.621732,
        -20.700335,
        -273.202549,
        94.190595,
        80.575914,
        0.0
      ]
    ],
    "turn_angle": 1001.9653948056522,
    "filename": "scan-0343_light-34_camera-343.png"
  },
  {
    "id": 344,
    "scan_id": "0344",
    "camera_id": 344,
    "light_id": 34,
    "position": [
      -0.175507,
      -136.381149,
      429.444611
    ],
    "rotation_matrix": [
      [
        0.963352281259034,
        0.2682394116290846,
        1.5553040903143467e-05
      ],
      [
        -6.261410405702938e-05,
        0.0001668897163707439,
        0.999999984113648
      ],
      [
        0.2682394047720963,
        -0.9633522669287204,
        0.00017756915941641305
      ]
    ],
    "position_light": [
      214.170578,
      214.751892,
      180.201859
    ],
    "rotation_matrix_light": [
      [
        0.14348184324937835,
        0.1946905453465144,
        0.9703136360014929
      ],
      [
        0.5756551604448616,
        0.7811079877095592,
        -0.24185005228348339
      ],
      [
        -0.8050056502354263,
        0.5932671431058691,
        1.9673483492299582e-07
      ]
    ],
    "servo_angle": [
      [
        118.34661,
        -17.849526,
        -63.513518,
        254.487914,
        29.139201,
        -177.143252,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.708584,
        -23.621732,
        -20.700335,
        -273.202549,
        94.190595,
        80.575914,
        0.0
      ]
    ],
    "turn_angle": 1001.9653948056522,
    "filename": "scan-0344_light-34_camera-344.png"
  },
  {
    "id": 345,
    "scan_id": "0345",
    "camera_id": 345,
    "light_id": 34,
    "position": [
      -43.906967,
      -136.381149,
      413.072784
    ],
    "rotation_matrix": [
      [
        0.9353889316928652,
        0.353620625057971,
        -3.007707776170321e-07
      ],
      [
        -6.267404239299057e-05,
        0.0001666344442495249,
        0.9999999841524632
      ],
      [
        0.35362061950407386,
        -0.9353889168504039,
        0.0001780308488356641
      ]
    ],
    "position_light": [
      214.170578,
      214.751892,
      180.201859
    ],
    "rotation_matrix_light": [
      [
        0.14348184324937835,
        0.1946905453465144,
        0.9703136360014929
      ],
      [
        0.5756551604448616,
        0.7811079877095592,
        -0.24185005228348339
      ],
      [
        -0.8050056502354263,
        0.5932671431058691,
        1.9673483492299582e-07
      ]
    ],
    "servo_angle": [
      [
        125.046664,
        -13.376788,
        -65.297307,
        254.592822,
        36.207266,
        -180.885526,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.708584,
        -23.621732,
        -20.700335,
        -273.202549,
        94.190595,
        80.575914,
        0.0
      ]
    ],
    "turn_angle": 1001.9653948056522,
    "filename": "scan-0345_light-34_camera-345.png"
  },
  {
    "id": 346,
    "scan_id": "0346",
    "camera_id": 346,
    "light_id": 34,
    "position": [
      -80.851997,
      -136.381149,
      395.566986
    ],
    "rotation_matrix": [
      [
        0.9047013930127119,
        0.42604622905826917,
        -1.3641389032009732e-05
      ],
      [
        -6.333376252393164e-05,
        0.00016650665387291097,
        0.9999999841321843
      ],
      [
        0.42604622456922814,
        -0.9047013777931163,
        0.0001776219124000611
      ]
    ],
    "position_light": [
      214.170578,
      214.751892,
      180.201859
    ],
    "rotation_matrix_light": [
      [
        0.14348184324937835,
        0.1946905453465144,
        0.9703136360014929
      ],
      [
        0.5756551604448616,
        0.7811079877095592,
        -0.24185005228348339
      ],
      [
        -0.8050056502354263,
        0.5932671431058691,
        1.9673483492299582e-07
      ]
    ],
    "servo_angle": [
      [
        130.017703,
        -8.826186,
        -67.32426,
        254.433941,
        41.552561,
        -183.670903,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.708584,
        -23.621732,
        -20.700335,
        -273.202549,
        94.190595,
        80.575914,
        0.0
      ]
    ],
    "turn_angle": 1001.9653948056522,
    "filename": "scan-0346_light-34_camera-346.png"
  },
  {
    "id": 347,
    "scan_id": "0347",
    "camera_id": 347,
    "light_id": 34,
    "position": [
      -105.302071,
      -136.381149,
      381.930023
    ],
    "rotation_matrix": [
      [
        0.8804480416820875,
        0.47414264237982495,
        -2.3984475916116743e-05
      ],
      [
        -6.25118057563101e-05,
        0.000166664765901825,
        0.9999999841575651
      ],
      [
        0.4741426388656179,
        -0.8804480262343335,
        0.00017637917951690563
      ]
    ],
    "position_light": [
      214.170578,
      214.751892,
      180.201859
    ],
    "rotation_matrix_light": [
      [
        0.14348184324937835,
        0.1946905453465144,
        0.9703136360014929
      ],
      [
        0.5756551604448616,
        0.7811079877095592,
        -0.24185005228348339
      ],
      [
        -0.8050056502354263,
        0.5932671431058691,
        1.9673483492299582e-07
      ]
    ],
    "servo_angle": [
      [
        132.976457,
        -5.444646,
        -68.92562,
        254.278097,
        44.787022,
        -185.427706,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.708584,
        -23.621732,
        -20.700335,
        -273.202549,
        94.190595,
        80.575914,
        0.0
      ]
    ],
    "turn_angle": 1001.9653948056522,
    "filename": "scan-0347_light-34_camera-347.png"
  },
  {
    "id": 348,
    "scan_id": "0348",
    "camera_id": 348,
    "light_id": 34,
    "position": [
      -117.92363,
      -136.381149,
      374.192535
    ],
    "rotation_matrix": [
      [
        0.8665867458098899,
        0.4990264634031275,
        -2.846035624037846e-05
      ],
      [
        -6.326700491673942e-05,
        0.0001668983707336924,
        0.9999999840711097
      ],
      [
        0.4990264602041769,
        -0.8665867302055233,
        0.0001762038256887255
      ]
    ],
    "position_light": [
      214.170578,
      214.751892,
      180.201859
    ],
    "rotation_matrix_light": [
      [
        0.14348184324937835,
        0.1946905453465144,
        0.9703136360014929
      ],
      [
        0.5756551604448616,
        0.7811079877095592,
        -0.24185005228348339
      ],
      [
        -0.8050056502354263,
        0.5932671431058691,
        1.9673483492299582e-07
      ]
    ],
    "servo_angle": [
      [
        134.406846,
        -3.584481,
        -69.836049,
        254.19095,
        46.367641,
        -186.325073,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.708584,
        -23.621732,
        -20.700335,
        -273.202549,
        94.190595,
        80.575914,
        0.0
      ]
    ],
    "turn_angle": 1001.9653948056522,
    "filename": "scan-0348_light-34_camera-348.png"
  },
  {
    "id": 349,
    "scan_id": "0349",
    "camera_id": 349,
    "light_id": 34,
    "position": [
      -160.617691,
      -136.381149,
      344.067139
    ],
    "rotation_matrix": [
      [
        0.8121007668528393,
        0.5835172167798842,
        -4.688804265406965e-05
      ],
      [
        -6.253494796448766e-05,
        0.00016738618552109008,
        0.9999999840356227
      ],
      [
        0.5835172153128056,
        -0.8121007509560146,
        0.00017242466840999837
      ]
    ],
    "position_light": [
      214.170578,
      214.751892,
      180.201859
    ],
    "rotation_matrix_light": [
      [
        0.14348184324937835,
        0.1946905453465144,
        0.9703136360014929
      ],
      [
        0.5756551604448616,
        0.7811079877095592,
        -0.24185005228348339
      ],
      [
        -0.8050056502354263,
        0.5932671431058691,
        1.9673483492299582e-07
      ]
    ],
    "servo_angle": [
      [
        138.795416,
        3.304821,
        -73.371657,
        253.889918,
        51.300349,
        -189.395382,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -109.708584,
        -23.621732,
        -20.700335,
        -273.202549,
        94.190595,
        80.575914,
        0.0
      ]
    ],
    "turn_angle": 1001.9653948056522,
    "filename": "scan-0349_light-34_camera-349.png"
  },
  {
    "id": 350,
    "scan_id": "0350",
    "camera_id": 350,
    "light_id": 35,
    "position": [
      -183.255768,
      -136.381149,
      325.265472
    ],
    "rotation_matrix": [
      [
        0.777773894753379,
        0.6285441635627724,
        -5.559976616875684e-05
      ],
      [
        -6.300025384281538e-05,
        0.00016641586089577443,
        0.9999999841683643
      ],
      [
        0.6285441628645734,
        -0.7777738789371468,
        0.0001690323541335137
      ]
    ],
    "position_light": [
      580.507568,
      196.766251,
      241.489243
    ],
    "rotation_matrix_light": [
      [
        0.41793349331205415,
        0.7147255196661226,
        0.5608021279435145
      ],
      [
        0.2830821753383558,
        0.48411104997893445,
        -0.8279498615822083
      ],
      [
        -0.8632474020659937,
        0.504781064250913,
        1.6739173974711363e-07
      ]
    ],
    "servo_angle": [
      [
        140.866143,
        7.360101,
        -75.565169,
        253.735792,
        53.68076,
        -191.096207,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -39.832484,
        -0.711957,
        -57.367227,
        -151.683873,
        35.189922,
        6.943504,
        0.0
      ]
    ],
    "turn_angle": 1014.1350023621958,
    "filename": "scan-0350_light-35_camera-350.png"
  },
  {
    "id": 351,
    "scan_id": "0351",
    "camera_id": 351,
    "light_id": 35,
    "position": [
      -200.775085,
      -136.381149,
      309.129639
    ],
    "rotation_matrix": [
      [
        0.7481604627675988,
        0.6635178354179896,
        -6.351061534459745e-05
      ],
      [
        -6.28474967330761e-05,
        0.00016658275132563904,
        0.9999999841501895
      ],
      [
        0.6635178354811306,
        -0.7481604469179141,
        0.00016633106331465086
      ]
    ],
    "position_light": [
      580.507568,
      196.766251,
      241.489243
    ],
    "rotation_matrix_light": [
      [
        0.41793349331205415,
        0.7147255196661226,
        0.5608021279435145
      ],
      [
        0.2830821753383558,
        0.48411104997893445,
        -0.8279498615822083
      ],
      [
        -0.8632474020659937,
        0.504781064250913,
        1.6739173974711363e-07
      ]
    ],
    "servo_angle": [
      [
        142.359557,
        10.714884,
        -77.439486,
        253.6212,
        55.42364,
        -192.475145,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -39.832484,
        -0.711957,
        -57.367227,
        -151.683873,
        35.189922,
        6.943504,
        0.0
      ]
    ],
    "turn_angle": 1014.1350023621958,
    "filename": "scan-0351_light-35_camera-351.png"
  },
  {
    "id": 352,
    "scan_id": "0352",
    "camera_id": 352,
    "light_id": 35,
    "position": [
      -229.782364,
      -136.381149,
      278.80423
    ],
    "rotation_matrix": [
      [
        0.6921916052659753,
        0.7217137768682157,
        -7.66676387083387e-05
      ],
      [
        -6.299045183588703e-05,
        0.00016664376283120896,
        0.9999999841310291
      ],
      [
        0.7217137781915448,
        -0.692191589452278,
        0.00016081049060284736
      ]
    ],
    "position_light": [
      580.507568,
      196.766251,
      241.489243
    ],
    "rotation_matrix_light": [
      [
        0.41793349331205415,
        0.7147255196661226,
        0.5608021279435145
      ],
      [
        0.2830821753383558,
        0.48411104997893445,
        -0.8279498615822083
      ],
      [
        -0.8632474020659937,
        0.504781064250913,
        1.6739173974711363e-07
      ]
    ],
    "servo_angle": [
      [
        144.642279,
        16.75552,
        -80.94679,
        253.440146,
        58.139746,
        -194.934795,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -39.832484,
        -0.711957,
        -57.367227,
        -151.683873,
        35.189922,
        6.943504,
        0.0
      ]
    ],
    "turn_angle": 1014.1350023621958,
    "filename": "scan-0352_light-35_camera-352.png"
  },
  {
    "id": 353,
    "scan_id": "0353",
    "camera_id": 353,
    "light_id": 35,
    "position": [
      -262.636566,
      -136.381149,
      237.506149
    ],
    "rotation_matrix": [
      [
        0.61543860145738,
        0.7881848255310269,
        -9.294519189723127e-05
      ],
      [
        -6.277291678297159e-05,
        0.00016693808643752917,
        0.999999984095618
      ],
      [
        0.7881848285115269,
        -0.6154385858347686,
        0.00015221680290977702
      ]
    ],
    "position_light": [
      580.507568,
      196.766251,
      241.489243
    ],
    "rotation_matrix_light": [
      [
        0.41793349331205415,
        0.7147255196661226,
        0.5608021279435145
      ],
      [
        0.2830821753383558,
        0.48411104997893445,
        -0.8279498615822083
      ],
      [
        -0.8632474020659937,
        0.504781064250913,
        1.6739173974711363e-07
      ]
    ],
    "servo_angle": [
      [
        146.973816,
        24.537892,
        -85.710934,
        253.24196,
        60.998748,
        -198.122904,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -39.832484,
        -0.711957,
        -57.367227,
        -151.683873,
        35.189922,
        6.943504,
        0.0
      ]
    ],
    "turn_angle": 1014.1350023621958,
    "filename": "scan-0353_light-35_camera-353.png"
  },
  {
    "id": 354,
    "scan_id": "0354",
    "camera_id": 354,
    "light_id": 35,
    "position": [
      -269.374146,
      -136.381149,
      227.864243
    ],
    "rotation_matrix": [
      [
        0.5974443168603811,
        0.8019103933299969,
        -9.654305736200852e-05
      ],
      [
        -6.273106071680301e-05,
        0.00016712761507314822,
        0.9999999840665869
      ],
      [
        0.8019103966878383,
        -0.5974443012848057,
        0.00015015413338931305
      ]
    ],
    "position_light": [
      580.507568,
      196.766251,
      241.489243
    ],
    "rotation_matrix_light": [
      [
        0.41793349331205415,
        0.7147255196661226,
        0.5608021279435145
      ],
      [
        0.2830821753383558,
        0.48411104997893445,
        -0.8279498615822083
      ],
      [
        -0.8632474020659937,
        0.504781064250913,
        1.6739173974711363e-07
      ]
    ],
    "servo_angle": [
      [
        147.422098,
        26.29521,
        -86.824706,
        253.200879,
        61.561336,
        -198.851993,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -39.832484,
        -0.711957,
        -57.367227,
        -151.683873,
        35.189922,
        6.943504,
        0.0
      ]
    ],
    "turn_angle": 1014.1350023621958,
    "filename": "scan-0354_light-35_camera-354.png"
  },
  {
    "id": 355,
    "scan_id": "0355",
    "camera_id": 355,
    "light_id": 35,
    "position": [
      -299.646759,
      -136.381149,
      177.603607
    ],
    "rotation_matrix": [
      [
        0.503254049846939,
        0.8641385009102143,
        -0.00011205937159353141
      ],
      [
        -6.290699863770177e-05,
        0.0001663131216799174,
        0.9999999841913276
      ],
      [
        0.8641385058862755,
        -0.5032540348418417,
        0.00013805811152767244
      ]
    ],
    "position_light": [
      580.507568,
      196.766251,
      241.489243
    ],
    "rotation_matrix_light": [
      [
        0.41793349331205415,
        0.7147255196661226,
        0.5608021279435145
      ],
      [
        0.2830821753383558,
        0.48411104997893445,
        -0.8279498615822083
      ],
      [
        -0.8632474020659937,
        0.504781064250913,
        1.6739173974711363e-07
      ]
    ],
    "servo_angle": [
      [
        149.325808,
        35.17703,
        -92.66859,
        253.003781,
        64.015715,
        -202.614549,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -39.832484,
        -0.711957,
        -57.367227,
        -151.683873,
        35.189922,
        6.943504,
        0.0
      ]
    ],
    "turn_angle": 1014.1350023621958,
    "filename": "scan-0355_light-35_camera-355.png"
  },
  {
    "id": 356,
    "scan_id": "0356",
    "camera_id": 356,
    "light_id": 35,
    "position": [
      -302.552246,
      -136.381149,
      172.017029
    ],
    "rotation_matrix": [
      [
        0.492747460912186,
        0.8701723546086165,
        -0.00011419058591805031
      ],
      [
        -6.307288126250477e-05,
        0.00016694346289541917,
        0.9999999840758459
      ],
      [
        0.8701723598152296,
        -0.49274744586327024,
        0.00013714524505775705
      ]
    ],
    "position_light": [
      580.507568,
      196.766251,
      241.489243
    ],
    "rotation_matrix_light": [
      [
        0.41793349331205415,
        0.7147255196661226,
        0.5608021279435145
      ],
      [
        0.2830821753383558,
        0.48411104997893445,
        -0.8279498615822083
      ],
      [
        -0.8632474020659937,
        0.504781064250913,
        1.6739173974711363e-07
      ]
    ],
    "servo_angle": [
      [
        149.499758,
        36.140344,
        -93.324282,
        252.982925,
        64.246674,
        -203.031663,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -39.832484,
        -0.711957,
        -57.367227,
        -151.683873,
        35.189922,
        6.943504,
        0.0
      ]
    ],
    "turn_angle": 1014.1350023621958,
    "filename": "scan-0356_light-35_camera-356.png"
  },
  {
    "id": 357,
    "scan_id": "0357",
    "camera_id": 357,
    "light_id": 35,
    "position": [
      -323.018585,
      -136.381149,
      126.897636
    ],
    "rotation_matrix": [
      [
        0.40765482861647767,
        0.9131360931812389,
        -0.000126630855725951
      ],
      [
        -6.278204549642341e-05,
        0.0001667048962915585,
        0.9999999841339459
      ],
      [
        0.9131360998033561,
        -0.40765481419846006,
        0.0001252866076738024
      ]
    ],
    "position_light": [
      580.507568,
      196.766251,
      241.489243
    ],
    "rotation_matrix_light": [
      [
        0.41793349331205415,
        0.7147255196661226,
        0.5608021279435145
      ],
      [
        0.2830821753383558,
        0.48411104997893445,
        -0.8279498615822083
      ],
      [
        -0.8632474020659937,
        0.504781064250913,
        1.6739173974711363e-07
      ]
    ],
    "servo_angle": [
      [
        150.687728,
        43.796607,
        -98.691235,
        252.815851,
        65.868489,
        -206.417671,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -39.832484,
        -0.711957,
        -57.367227,
        -151.683873,
        35.189922,
        6.943504,
        0.0
      ]
    ],
    "turn_angle": 1014.1350023621958,
    "filename": "scan-0357_light-35_camera-357.png"
  },
  {
    "id": 358,
    "scan_id": "0358",
    "camera_id": 358,
    "light_id": 35,
    "position": [
      -333.170258,
      -136.381149,
      99.057076
    ],
    "rotation_matrix": [
      [
        0.3549497492302194,
        0.9348853713943133,
        -0.0001336948824172124
      ],
      [
        -6.282391958223332e-05,
        0.0001668591889087967,
        0.9999999841055831
      ],
      [
        0.934885378843075,
        -0.3549497351892636,
        0.00011795979065098994
      ]
    ],
    "position_light": [
      580.507568,
      196.766251,
      241.489243
    ],
    "rotation_matrix_light": [
      [
        0.41793349331205415,
        0.7147255196661226,
        0.5608021279435145
      ],
      [
        0.2830821753383558,
        0.48411104997893445,
        -0.8279498615822083
      ],
      [
        -0.8632474020659937,
        0.504781064250913,
        1.6739173974711363e-07
      ]
    ],
    "servo_angle": [
      [
        151.256217,
        48.442951,
        -102.088302,
        252.711573,
        66.682604,
        -208.538245,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -39.832484,
        -0.711957,
        -57.367227,
        -151.683873,
        35.189922,
        6.943504,
        0.0
      ]
    ],
    "turn_angle": 1014.1350023621958,
    "filename": "scan-0358_light-35_camera-358.png"
  },
  {
    "id": 359,
    "scan_id": "0359",
    "camera_id": 359,
    "light_id": 35,
    "position": [
      -342.469727,
      -136.381149,
      67.875229
    ],
    "rotation_matrix": [
      [
        0.2957526426262007,
        0.9552645470410859,
        -0.0001398070386175454
      ],
      [
        -6.299530848291601e-05,
        0.00016585778867728163,
        0.9999999842613925
      ],
      [
        0.9552645551946382,
        -0.29575262916427847,
        0.00010923006412510983
      ]
    ],
    "position_light": [
      580.507568,
      196.766251,
      241.489243
    ],
    "rotation_matrix_light": [
      [
        0.41793349331205415,
        0.7147255196661226,
        0.5608021279435145
      ],
      [
        0.2830821753383558,
        0.48411104997893445,
        -0.8279498615822083
      ],
      [
        -0.8632474020659937,
        0.504781064250913,
        1.6739173974711363e-07
      ]
    ],
    "servo_angle": [
      [
        151.768728,
        53.614984,
        -106.00189,
        252.591653,
        67.451227,
        -210.960596,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -39.832484,
        -0.711957,
        -57.367227,
        -151.683873,
        35.189922,
        6.943504,
        0.0
      ]
    ],
    "turn_angle": 1014.1350023621958,
    "filename": "scan-0359_light-35_camera-359.png"
  },
  {
    "id": 360,
    "scan_id": "0360",
    "camera_id": 360,
    "light_id": 36,
    "position": [
      -339.320801,
      -136.381149,
      79.258049
    ],
    "rotation_matrix": [
      [
        0.3173828046754847,
        0.9482974935400782,
        -0.00013799249527918223
      ],
      [
        -6.284420941127244e-05,
        0.0001665491742931513,
        0.999999984155989
      ],
      [
        0.9482975014977784,
        -0.3173827909748388,
        0.000112454850321686
      ]
    ],
    "position_light": [
      310.368042,
      221.197403,
      108.15406
    ],
    "rotation_matrix_light": [
      [
        0.20176163694578264,
        0.4258395591124816,
        0.8820163897297176
      ],
      [
        0.37765252581576425,
        0.7970768353783961,
        -0.47121872654653096
      ],
      [
        -0.9036984074357614,
        0.42816957901986463,
        1.4198640929663497e-07
      ]
    ],
    "servo_angle": [
      [
        151.595752,
        51.728635,
        -104.557865,
        252.635885,
        67.187094,
        -210.069418,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -81.478036,
        -16.724466,
        -14.074307,
        -236.78856,
        72.416308,
        51.033695,
        0.0
      ]
    ],
    "turn_angle": 1031.688424577324,
    "filename": "scan-0360_light-36_camera-360.png"
  },
  {
    "id": 361,
    "scan_id": "0361",
    "camera_id": 361,
    "light_id": 36,
    "position": [
      -331.703827,
      -136.381149,
      103.401321
    ],
    "rotation_matrix": [
      [
        0.3631833991131076,
        0.9317176616026083,
        -0.00013291507436991035
      ],
      [
        -6.282965200077317e-05,
        0.0001671469429502248,
        0.9999999840571672
      ],
      [
        0.9317176689647375,
        -0.3631833849719275,
        0.00011924449133349224
      ]
    ],
    "position_light": [
      310.368042,
      221.197403,
      108.15406
    ],
    "rotation_matrix_light": [
      [
        0.20176163694578264,
        0.4258395591124816,
        0.8820163897297176
      ],
      [
        0.37765252581576425,
        0.7970768353783961,
        -0.47121872654653096
      ],
      [
        -0.9036984074357614,
        0.42816957901986463,
        1.4198640929663497e-07
      ]
    ],
    "servo_angle": [
      [
        151.174742,
        47.720452,
        -101.552873,
        252.727959,
        66.563888,
        -208.205128,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -81.478036,
        -16.724466,
        -14.074307,
        -236.78856,
        72.416308,
        51.033695,
        0.0
      ]
    ],
    "turn_angle": 1031.688424577324,
    "filename": "scan-0361_light-36_camera-361.png"
  },
  {
    "id": 362,
    "scan_id": "0362",
    "camera_id": 362,
    "light_id": 36,
    "position": [
      -319.759308,
      -136.381149,
      134.906616
    ],
    "rotation_matrix": [
      [
        0.4227895590316648,
        0.9062278815943514,
        -0.00012407588401275316
      ],
      [
        -6.299511975987881e-05,
        0.00016630426409974808,
        0.9999999841872534
      ],
      [
        0.906227887898748,
        -0.4227895445300255,
        0.00012739964041458274
      ]
    ],
    "position_light": [
      310.368042,
      221.197403,
      108.15406
    ],
    "rotation_matrix_light": [
      [
        0.20176163694578264,
        0.4258395591124816,
        0.8820163897297176
      ],
      [
        0.37765252581576425,
        0.7970768353783961,
        -0.47121872654653096
      ],
      [
        -0.9036984074357614,
        0.42816957901986463,
        1.4198640929663497e-07
      ]
    ],
    "servo_angle": [
      [
        150.502606,
        42.451073,
        -97.727635,
        252.84553,
        65.609684,
        -205.813086,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -81.478036,
        -16.724466,
        -14.074307,
        -236.78856,
        72.416308,
        51.033695,
        0.0
      ]
    ],
    "turn_angle": 1031.688424577324,
    "filename": "scan-0362_light-36_camera-362.png"
  },
  {
    "id": 363,
    "scan_id": "0363",
    "camera_id": 363,
    "light_id": 36,
    "position": [
      -301.457031,
      -136.381149,
      174.142349
    ],
    "rotation_matrix": [
      [
        0.49674589611277176,
        0.8678960202518794,
        -0.00011280987777873008
      ],
      [
        -6.309050921671222e-05,
        0.00016609112632337553,
        0.9999999842166625
      ],
      [
        0.8678960252903033,
        -0.496745881155231,
        0.0001372610872467095
      ]
    ],
    "position_light": [
      310.368042,
      221.197403,
      108.15406
    ],
    "rotation_matrix_light": [
      [
        0.20176163694578264,
        0.4258395591124816,
        0.8820163897297176
      ],
      [
        0.37765252581576425,
        0.7970768353783961,
        -0.47121872654653096
      ],
      [
        -0.9036984074357614,
        0.42816957901986463,
        1.4198640929663497e-07
      ]
    ],
    "servo_angle": [
      [
        149.434326,
        35.774339,
        -93.074645,
        252.990832,
        64.159699,
        -202.872953,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -81.478036,
        -16.724466,
        -14.074307,
        -236.78856,
        72.416308,
        51.033695,
        0.0
      ]
    ],
    "turn_angle": 1031.688424577324,
    "filename": "scan-0363_light-36_camera-363.png"
  },
  {
    "id": 364,
    "scan_id": "0364",
    "camera_id": 364,
    "light_id": 36,
    "position": [
      -288.602936,
      -136.381149,
      197.463409
    ],
    "rotation_matrix": [
      [
        0.5405454652612902,
        0.8413147976034708,
        -0.00010639025668190971
      ],
      [
        -6.270034562361193e-05,
        0.00016674215512496593,
        0.9999999841328603
      ],
      [
        0.8413148019939518,
        -0.5405454500136738,
        0.00014288244440868736
      ]
    ],
    "position_light": [
      310.368042,
      221.197403,
      108.15406
    ],
    "rotation_matrix_light": [
      [
        0.20176163694578264,
        0.4258395591124816,
        0.8820163897297176
      ],
      [
        0.37765252581576425,
        0.7970768353783961,
        -0.47121872654653096
      ],
      [
        -0.9036984074357614,
        0.42816957901986463,
        1.4198640929663497e-07
      ]
    ],
    "servo_angle": [
      [
        148.651207,
        31.717282,
        -90.349314,
        253.079182,
        63.131928,
        -201.131964,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -81.478036,
        -16.724466,
        -14.074307,
        -236.78856,
        72.416308,
        51.033695,
        0.0
      ]
    ],
    "turn_angle": 1031.688424577324,
    "filename": "scan-0364_light-36_camera-364.png"
  },
  {
    "id": 365,
    "scan_id": "0365",
    "camera_id": 365,
    "light_id": 36,
    "position": [
      -279.079041,
      -136.381149,
      213.102936
    ],
    "rotation_matrix": [
      [
        0.5698459024088174,
        0.8217515666032518,
        -0.00010145433431318907
      ],
      [
        -6.268766683853455e-05,
        0.00016693201248990652,
        0.9999999841019797
      ],
      [
        0.8217515704750048,
        -0.5698458869894601,
        0.00014663921172947125
      ]
    ],
    "position_light": [
      310.368042,
      221.197403,
      108.15406
    ],
    "rotation_matrix_light": [
      [
        0.20176163694578264,
        0.4258395591124816,
        0.8820163897297176
      ],
      [
        0.37765252581576425,
        0.7970768353783961,
        -0.47121872654653096
      ],
      [
        -0.9036984074357614,
        0.42816957901986463,
        1.4198640929663497e-07
      ]
    ],
    "servo_angle": [
      [
        148.051492,
        28.948979,
        -88.533095,
        253.140546,
        62.359924,
        -199.961698,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -81.478036,
        -16.724466,
        -14.074307,
        -236.78856,
        72.416308,
        51.033695,
        0.0
      ]
    ],
    "turn_angle": 1031.688424577324,
    "filename": "scan-0365_light-36_camera-365.png"
  },
  {
    "id": 366,
    "scan_id": "0366",
    "camera_id": 366,
    "light_id": 36,
    "position": [
      -258.710388,
      -136.381149,
      242.917633
    ],
    "rotation_matrix": [
      [
        0.6255266113247392,
        0.7802028263032608,
        -9.139470704727648e-05
      ],
      [
        -6.255726905718406e-05,
        0.0001672974484532297,
        0.9999999840490759
      ],
      [
        0.780202829148406,
        -0.6255265956296083,
        0.00015345636413843788
      ]
    ],
    "position_light": [
      310.368042,
      221.197403,
      108.15406
    ],
    "rotation_matrix_light": [
      [
        0.20176163694578264,
        0.4258395591124816,
        0.8820163897297176
      ],
      [
        0.37765252581576425,
        0.7970768353783961,
        -0.47121872654653096
      ],
      [
        -0.9036984074357614,
        0.42816957901986463,
        1.4198640929663497e-07
      ]
    ],
    "servo_angle": [
      [
        146.708135,
        23.542607,
        -85.086353,
        253.265737,
        60.667522,
        -197.711807,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -81.478036,
        -16.724466,
        -14.074307,
        -236.78856,
        72.416308,
        51.033695,
        0.0
      ]
    ],
    "turn_angle": 1031.688424577324,
    "filename": "scan-0366_light-36_camera-366.png"
  },
  {
    "id": 367,
    "scan_id": "0367",
    "camera_id": 367,
    "light_id": 36,
    "position": [
      -226.684738,
      -136.381149,
      282.284546
    ],
    "rotation_matrix": [
      [
        0.6986338709015287,
        0.7154793559066175,
        -7.55023050229564e-05
      ],
      [
        -6.288168016177487e-05,
        0.00016692805243917475,
        0.9999999840904596
      ],
      [
        0.7154793571271225,
        -0.6986338550388731,
        0.00016161213545812236
      ]
    ],
    "position_light": [
      310.368042,
      221.197403,
      108.15406
    ],
    "rotation_matrix_light": [
      [
        0.20176163694578264,
        0.4258395591124816,
        0.8820163897297176
      ],
      [
        0.37765252581576425,
        0.7970768353783961,
        -0.47121872654653096
      ],
      [
        -0.9036984074357614,
        0.42816957901986463,
        1.4198640929663497e-07
      ]
    ],
    "servo_angle": [
      [
        144.409085,
        16.077941,
        -80.544974,
        253.459053,
        57.858997,
        -194.659145,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -81.478036,
        -16.724466,
        -14.074307,
        -236.78856,
        72.416308,
        51.033695,
        0.0
      ]
    ],
    "turn_angle": 1031.688424577324,
    "filename": "scan-0367_light-36_camera-367.png"
  },
  {
    "id": 368,
    "scan_id": "0368",
    "camera_id": 368,
    "light_id": 36,
    "position": [
      -208.5009,
      -136.381149,
      301.522491
    ],
    "rotation_matrix": [
      [
        0.7341570254046985,
        0.6789797180773275,
        -6.699670067061847e-05
      ],
      [
        -6.313190437101657e-05,
        0.0001669349285508548,
        0.999999984073546
      ],
      [
        0.6789797184476776,
        -0.734157009482551,
        0.00016542173321248965
      ]
    ],
    "position_light": [
      310.368042,
      221.197403,
      108.15406
    ],
    "rotation_matrix_light": [
      [
        0.20176163694578264,
        0.4258395591124816,
        0.8820163897297176
      ],
      [
        0.37765252581576425,
        0.7970768353783961,
        -0.47121872654653096
      ],
      [
        -0.9036984074357614,
        0.42816957901986463,
        1.4198640929663497e-07
      ]
    ],
    "servo_angle": [
      [
        142.989811,
        12.260609,
        -78.320924,
        253.572041,
        56.166766,
        -193.105914,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -81.478036,
        -16.724466,
        -14.074307,
        -236.78856,
        72.416308,
        51.033695,
        0.0
      ]
    ],
    "turn_angle": 1031.688424577324,
    "filename": "scan-0368_light-36_camera-368.png"
  },
  {
    "id": 369,
    "scan_id": "0369",
    "camera_id": 369,
    "light_id": 36,
    "position": [
      -192.455658,
      -136.381149,
      316.977295
    ],
    "rotation_matrix": [
      [
        0.7625788575929703,
        0.6468952637697245,
        -6.053510158493536e-05
      ],
      [
        -6.252808691054046e-05,
        0.00016728781885444466,
        0.9999999840525117
      ],
      [
        0.646895263580155,
        -0.7625788416466089,
        0.00016801927706622255
      ]
    ],
    "position_light": [
      310.368042,
      221.197403,
      108.15406
    ],
    "rotation_matrix_light": [
      [
        0.20176163694578264,
        0.4258395591124816,
        0.8820163897297176
      ],
      [
        0.37765252581576425,
        0.7970768353783961,
        -0.47121872654653096
      ],
      [
        -0.9036984074357614,
        0.42816957901986463,
        1.4198640929663497e-07
      ]
    ],
    "servo_angle": [
      [
        141.661695,
        9.096736,
        -76.528769,
        253.675116,
        54.606258,
        -191.812175,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -81.478036,
        -16.724466,
        -14.074307,
        -236.78856,
        72.416308,
        51.033695,
        0.0
      ]
    ],
    "turn_angle": 1031.688424577324,
    "filename": "scan-0369_light-36_camera-369.png"
  },
  {
    "id": 370,
    "scan_id": "0370",
    "camera_id": 370,
    "light_id": 37,
    "position": [
      -148.535065,
      -136.381149,
      353.255585
    ],
    "rotation_matrix": [
      [
        0.8287947766712287,
        0.5595526932021742,
        -4.1142210283617864e-05
      ],
      [
        -6.29814708035803e-05,
        0.0001668134650992248,
        0.9999999841033009
      ],
      [
        0.5595526911702081,
        -0.8287947609049306,
        0.00017349558016260813
      ]
    ],
    "position_light": [
      242.407806,
      189.79567,
      418.645081
    ],
    "rotation_matrix_light": [
      [
        0.28546534058500356,
        0.18746688799756173,
        0.9398753668594563
      ],
      [
        0.7856159165433529,
        0.5159198938818135,
        -0.3415176346409151
      ],
      [
        -0.5489236476946818,
        0.8358724956603655,
        2.77185816244252e-07
      ]
    ],
    "servo_angle": [
      [
        137.620337,
        1.258559,
        -72.295757,
        253.974486,
        49.96593,
        -188.514058,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -98.827256,
        -38.239261,
        -43.724587,
        -267.692414,
        79.214681,
        138.49192,
        0.0
      ]
    ],
    "turn_angle": 1042.9957786028604,
    "filename": "scan-0370_light-37_camera-370.png"
  },
  {
    "id": 371,
    "scan_id": "0371",
    "camera_id": 371,
    "light_id": 37,
    "position": [
      -136.182327,
      -136.381149,
      362.092133
    ],
    "rotation_matrix": [
      [
        0.8447903890634301,
        0.5350973717190607,
        -3.6406191687654577e-05
      ],
      [
        -6.251614493435476e-05,
        0.00016673456874888304,
        0.9999999841456568
      ],
      [
        0.5350973693056144,
        -0.8447903733938591,
        0.0001743079860480612
      ]
    ],
    "position_light": [
      242.407806,
      189.79567,
      418.645081
    ],
    "rotation_matrix_light": [
      [
        0.28546534058500356,
        0.18746688799756173,
        0.9398753668594563
      ],
      [
        0.7856159165433529,
        0.5159198938818135,
        -0.3415176346409151
      ],
      [
        -0.5489236476946818,
        0.8358724956603655,
        2.77185816244252e-07
      ]
    ],
    "servo_angle": [
      [
        136.365617,
        -0.753325,
        -71.258761,
        254.061862,
        48.552558,
        -187.625572,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -98.827256,
        -38.239261,
        -43.724587,
        -267.692414,
        79.214681,
        138.49192,
        0.0
      ]
    ],
    "turn_angle": 1042.9957786028604,
    "filename": "scan-0371_light-37_camera-371.png"
  },
  {
    "id": 372,
    "scan_id": "0372",
    "camera_id": 372,
    "light_id": 37,
    "position": [
      -101.807625,
      -136.381149,
      383.985992
    ],
    "rotation_matrix": [
      [
        0.8841199978556382,
        0.46725991576501635,
        -2.2605666904068622e-05
      ],
      [
        -6.277251462302735e-05,
        0.00016715343945089556,
        0.9999999840596695
      ],
      [
        0.4672599120953538,
        -0.8841199823434586,
        0.00017711477842402568
      ]
    ],
    "position_light": [
      242.407806,
      189.79567,
      418.645081
    ],
    "rotation_matrix_light": [
      [
        0.28546534058500356,
        0.18746688799756173,
        0.9398753668594563
      ],
      [
        0.7856159165433529,
        0.5159198938818135,
        -0.3415176346409151
      ],
      [
        -0.5489236476946818,
        0.8358724956603655,
        2.77185816244252e-07
      ]
    ],
    "servo_angle": [
      [
        132.569027,
        -5.945812,
        -68.683774,
        254.301645,
        44.338912,
        -185.178699,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -98.827256,
        -38.239261,
        -43.724587,
        -267.692414,
        79.214681,
        138.49192,
        0.0
      ]
    ],
    "turn_angle": 1042.9957786028604,
    "filename": "scan-0372_light-37_camera-372.png"
  },
  {
    "id": 373,
    "scan_id": "0373",
    "camera_id": 373,
    "light_id": 37,
    "position": [
      -84.301636,
      -136.381149,
      393.746521
    ],
    "rotation_matrix": [
      [
        0.9014784662565695,
        0.43282395340191326,
        -1.5402663396252292e-05
      ],
      [
        -6.310814103216433e-05,
        0.00016702701587678614,
        0.9999999840596694
      ],
      [
        0.43282394907521715,
        -0.9014784509146709,
        0.00017788597318935118
      ]
    ],
    "position_light": [
      242.407806,
      189.79567,
      418.645081
    ],
    "rotation_matrix_light": [
      [
        0.28546534058500356,
        0.18746688799756173,
        0.9398753668594563
      ],
      [
        0.7856159165433529,
        0.5159198938818135,
        -0.3415176346409151
      ],
      [
        -0.5489236476946818,
        0.8358724956603655,
        2.77185816244252e-07
      ]
    ],
    "servo_angle": [
      [
        130.45063,
        -8.366788,
        -67.537515,
        254.413486,
        42.023131,
        -183.9214,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -98.827256,
        -38.239261,
        -43.724587,
        -267.692414,
        79.214681,
        138.49192,
        0.0
      ]
    ],
    "turn_angle": 1042.9957786028604,
    "filename": "scan-0373_light-37_camera-373.png"
  },
  {
    "id": 374,
    "scan_id": "0374",
    "camera_id": 374,
    "light_id": 37,
    "position": [
      -36.79808,
      -136.381149,
      416.042786
    ],
    "rotation_matrix": [
      [
        0.9405280335537456,
        0.3397160845357822,
        2.683617155829765e-06
      ],
      [
        -6.301837861183435e-05,
        0.00016657125516317262,
        0.9999999841413504
      ],
      [
        0.33971607870133036,
        -0.9405280188073583,
        0.00017807329190100418
      ]
    ],
    "position_light": [
      242.407806,
      189.79567,
      418.645081
    ],
    "rotation_matrix_light": [
      [
        0.28546534058500356,
        0.18746688799756173,
        0.9398753668594563
      ],
      [
        0.7856159165433529,
        0.5159198938818135,
        -0.3415176346409151
      ],
      [
        -0.5489236476946818,
        0.8358724956603655,
        2.77185816244252e-07
      ]
    ],
    "servo_angle": [
      [
        124.018147,
        -14.173257,
        -64.961095,
        254.604511,
        35.113146,
        -180.318985,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -98.827256,
        -38.239261,
        -43.724587,
        -267.692414,
        79.214681,
        138.49192,
        0.0
      ]
    ],
    "turn_angle": 1042.9957786028604,
    "filename": "scan-0374_light-37_camera-374.png"
  },
  {
    "id": 375,
    "scan_id": "0375",
    "camera_id": 375,
    "light_id": 37,
    "position": [
      -11.878155,
      -136.381149,
      425.499268
    ],
    "rotation_matrix": [
      [
        0.9567070155079918,
        0.29105272089282197,
        1.1776106101174522e-05
      ],
      [
        -6.31506538292248e-05,
        0.0001671194397011022,
        0.999999984041544
      ],
      [
        0.29105271428005364,
        -0.9567070009840936,
        0.00017826451001295984
      ]
    ],
    "position_light": [
      242.407806,
      189.79567,
      418.645081
    ],
    "rotation_matrix_light": [
      [
        0.28546534058500356,
        0.18746688799756173,
        0.9398753668594563
      ],
      [
        0.7856159165433529,
        0.5159198938818135,
        -0.3415176346409151
      ],
      [
        -0.5489236476946818,
        0.8358724956603655,
        2.77185816244252e-07
      ]
    ],
    "servo_angle": [
      [
        120.226484,
        -16.754432,
        -63.923068,
        254.56532,
        31.10903,
        -178.213881,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -98.827256,
        -38.239261,
        -43.724587,
        -267.692414,
        79.214681,
        138.49192,
        0.0
      ]
    ],
    "turn_angle": 1042.9957786028604,
    "filename": "scan-0375_light-37_camera-375.png"
  },
  {
    "id": 376,
    "scan_id": "0376",
    "camera_id": 376,
    "light_id": 37,
    "position": [
      40.166374,
      -136.381149,
      440.738617
    ],
    "rotation_matrix": [
      [
        0.9818264611880105,
        0.18978092426002158,
        2.996732138696445e-05
      ],
      [
        -6.283809503403182e-05,
        0.00016718636865004077,
        0.999999984050046
      ],
      [
        0.1897809162228969,
        -0.9818264474110128,
        0.0001760734724448043
      ]
    ],
    "position_light": [
      242.407806,
      189.79567,
      418.645081
    ],
    "rotation_matrix_light": [
      [
        0.28546534058500356,
        0.18746688799756173,
        0.9398753668594563
      ],
      [
        0.7856159165433529,
        0.5159198938818135,
        -0.3415176346409151
      ],
      [
        -0.5489236476946818,
        0.8358724956603655,
        2.77185816244252e-07
      ]
    ],
    "servo_angle": [
      [
        111.412617,
        -21.009847,
        -62.522988,
        253.724791,
        21.943882,
        -172.83163,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -98.827256,
        -38.239261,
        -43.724587,
        -267.692414,
        79.214681,
        138.49192,
        0.0
      ]
    ],
    "turn_angle": 1042.9957786028604,
    "filename": "scan-0376_light-37_camera-376.png"
  },
  {
    "id": 377,
    "scan_id": "0377",
    "camera_id": 377,
    "light_id": 37,
    "position": [
      59.919125,
      -136.381149,
      445.015167
    ],
    "rotation_matrix": [
      [
        0.98846249770003,
        0.15146580224538317,
        3.7293166385357623e-05
      ],
      [
        -6.326280949170426e-05,
        0.0001666366170750555,
        0.9999999841150271
      ],
      [
        0.15146579362494594,
        -0.9884624843576006,
        0.00017429619891429216
      ]
    ],
    "position_light": [
      242.407806,
      189.79567,
      418.645081
    ],
    "rotation_matrix_light": [
      [
        0.28546534058500356,
        0.18746688799756173,
        0.9398753668594563
      ],
      [
        0.7856159165433529,
        0.5159198938818135,
        -0.3415176346409151
      ],
      [
        -0.5489236476946818,
        0.8358724956603655,
        2.77185816244252e-07
      ]
    ],
    "servo_angle": [
      [
        107.799374,
        -22.184525,
        -62.3134,
        252.892398,
        18.228538,
        -170.188862,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -98.827256,
        -38.239261,
        -43.724587,
        -267.692414,
        79.214681,
        138.49192,
        0.0
      ]
    ],
    "turn_angle": 1042.9957786028604,
    "filename": "scan-0377_light-37_camera-377.png"
  },
  {
    "id": 378,
    "scan_id": "0378",
    "camera_id": 378,
    "light_id": 37,
    "position": [
      100.723877,
      -136.381149,
      451.350647
    ],
    "rotation_matrix": [
      [
        0.9973672254715397,
        0.07251630848702162,
        5.058278260889476e-05
      ],
      [
        -6.284050447195877e-05,
        0.00016675252834796872,
        0.9999999841223324
      ],
      [
        0.0725162989008249,
        -0.9973672128143221,
        0.00017087046794661553
      ]
    ],
    "position_light": [
      242.407806,
      189.79567,
      418.645081
    ],
    "rotation_matrix_light": [
      [
        0.28546534058500356,
        0.18746688799756173,
        0.9398753668594563
      ],
      [
        0.7856159165433529,
        0.5159198938818135,
        -0.3415176346409151
      ],
      [
        -0.5489236476946818,
        0.8358724956603655,
        2.77185816244252e-07
      ]
    ],
    "servo_angle": [
      [
        100.116124,
        -23.750648,
        -62.666113,
        249.227302,
        10.36114,
        -162.632982,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -98.827256,
        -38.239261,
        -43.724587,
        -267.692414,
        79.214681,
        138.49192,
        0.0
      ]
    ],
    "turn_angle": 1042.9957786028604,
    "filename": "scan-0378_light-37_camera-378.png"
  },
  {
    "id": 379,
    "scan_id": "0379",
    "camera_id": 379,
    "light_id": 37,
    "position": [
      128.682999,
      -136.381149,
      453.797546
    ],
    "rotation_matrix": [
      [
        0.9998275061745512,
        0.01857294567751818,
        5.9880196902825644e-05
      ],
      [
        -6.299551786780565e-05,
        0.00016714933841560642,
        0.9999999840463316
      ],
      [
        0.018572935372276268,
        -0.9998274939958187,
        0.0001682905185181327
      ]
    ],
    "position_light": [
      242.407806,
      189.79567,
      418.645081
    ],
    "rotation_matrix_light": [
      [
        0.28546534058500356,
        0.18746688799756173,
        0.9398753668594563
      ],
      [
        0.7856159165433529,
        0.5159198938818135,
        -0.3415176346409151
      ],
      [
        -0.5489236476946818,
        0.8358724956603655,
        2.77185816244252e-07
      ]
    ],
    "servo_angle": [
      [
        95.040577,
        -24.089438,
        -63.815065,
        243.739225,
        5.102189,
        -154.354429,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -98.827256,
        -38.239261,
        -43.724587,
        -267.692414,
        79.214681,
        138.49192,
        0.0
      ]
    ],
    "turn_angle": 1042.9957786028604,
    "filename": "scan-0379_light-37_camera-379.png"
  },
  {
    "id": 380,
    "scan_id": "0380",
    "camera_id": 380,
    "light_id": 38,
    "position": [
      124.731346,
      -136.381149,
      453.543884
    ],
    "rotation_matrix": [
      [
        0.9996569811644431,
        0.026190009077024474,
        5.859809618366692e-05
      ],
      [
        -6.298477370318342e-05,
        0.00016666941477821995,
        0.9999999841271118
      ],
      [
        0.026189998894802995,
        -0.9996569689877878,
        0.00016826181582468847
      ]
    ],
    "position_light": [
      317.419922,
      217.322845,
      146.217758
    ],
    "rotation_matrix_light": [
      [
        0.24474210189858836,
        0.42462931018874833,
        0.8716600555760764
      ],
      [
        0.4352723986404143,
        0.7552014244350551,
        -0.4901109542879896
      ],
      [
        -0.8663943920294505,
        0.4993603483056011,
        1.6559416238237645e-07
      ]
    ],
    "servo_angle": [
      [
        95.72595,
        -24.080041,
        -63.591898,
        244.749064,
        5.822913,
        -155.765681,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.962482,
        -24.384224,
        -15.298546,
        -235.307693,
        65.241845,
        61.990997,
        0.0
      ]
    ],
    "turn_angle": 1090.7356031623003,
    "filename": "scan-0380_light-38_camera-380.png"
  },
  {
    "id": 381,
    "scan_id": "0381",
    "camera_id": 381,
    "light_id": 38,
    "position": [
      169.730377,
      -136.381149,
      454.650818
    ],
    "rotation_matrix": [
      [
        0.9981740570752095,
        -0.06040319918431175,
        7.287191524817452e-05
      ],
      [
        -6.28913400154904e-05,
        0.0001671336982881355,
        0.9999999840555026
      ],
      [
        -0.060403210400565815,
        -0.9981740457428386,
        0.00016302968355630387
      ]
    ],
    "position_light": [
      317.419922,
      217.322845,
      146.217758
    ],
    "rotation_matrix_light": [
      [
        0.24474210189858836,
        0.42462931018874833,
        0.8716600555760764
      ],
      [
        0.4352723986404143,
        0.7552014244350551,
        -0.4901109542879896
      ],
      [
        -0.8663943920294505,
        0.4993603483056011,
        1.6559416238237645e-07
      ]
    ],
    "servo_angle": [
      [
        89.597708,
        -23.468237,
        -67.595269,
        225.559905,
        -1.311099,
        -131.834953,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.962482,
        -24.384224,
        -15.298546,
        -235.307693,
        65.241845,
        61.990997,
        0.0
      ]
    ],
    "turn_angle": 1090.7356031623003,
    "filename": "scan-0381_light-38_camera-381.png"
  },
  {
    "id": 382,
    "scan_id": "0382",
    "camera_id": 382,
    "light_id": 38,
    "position": [
      192.567322,
      -136.381149,
      453.720581
    ],
    "rotation_matrix": [
      [
        0.9945532858868993,
        -0.1042293393280555,
        7.971705424194425e-05
      ],
      [
        -6.266320830809052e-05,
        0.00016689305871420146,
        0.9999999841100146
      ],
      [
        -0.10422935097607583,
        -0.9945532750787883,
        0.00015945269513384375
      ]
    ],
    "position_light": [
      317.419922,
      217.322845,
      146.217758
    ],
    "rotation_matrix_light": [
      [
        0.24474210189858836,
        0.42462931018874833,
        0.8716600555760764
      ],
      [
        0.4352723986404143,
        0.7552014244350551,
        -0.4901109542879896
      ],
      [
        -0.8663943920294505,
        0.4993603483056011,
        1.6559416238237645e-07
      ]
    ],
    "servo_angle": [
      [
        89.014494,
        -22.837009,
        -70.213285,
        207.429056,
        -3.361944,
        -111.195524,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.962482,
        -24.384224,
        -15.298546,
        -235.307693,
        65.241845,
        61.990997,
        0.0
      ]
    ],
    "turn_angle": 1090.7356031623003,
    "filename": "scan-0382_light-38_camera-382.png"
  },
  {
    "id": 383,
    "scan_id": "0383",
    "camera_id": 383,
    "light_id": 38,
    "position": [
      225.516479,
      -136.381149,
      450.596039
    ],
    "rotation_matrix": [
      [
        0.985902760479028,
        -0.1673192719065807,
        9.01581026889059e-05
      ],
      [
        -6.309898317707896e-05,
        0.00016703777894483407,
        0.999999984058449
      ],
      [
        -0.16731928429906123,
        -0.9859027504510938,
        0.00015412533144271157
      ]
    ],
    "position_light": [
      317.419922,
      217.322845,
      146.217758
    ],
    "rotation_matrix_light": [
      [
        0.24474210189858836,
        0.42462931018874833,
        0.8716600555760764
      ],
      [
        0.4352723986404143,
        0.7552014244350551,
        -0.4901109542879896
      ],
      [
        -0.8663943920294505,
        0.4993603483056011,
        1.6559416238237645e-07
      ]
    ],
    "servo_angle": [
      [
        90.813123,
        -22.670278,
        -70.899631,
        175.433489,
        -3.67392,
        -75.609573,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.962482,
        -24.384224,
        -15.298546,
        -235.307693,
        65.241845,
        61.990997,
        0.0
      ]
    ],
    "turn_angle": 1090.7356031623003,
    "filename": "scan-0383_light-38_camera-383.png"
  },
  {
    "id": 384,
    "scan_id": "0384",
    "camera_id": 384,
    "light_id": 38,
    "position": [
      266.72229,
      -136.381149,
      443.666901
    ],
    "rotation_matrix": [
      [
        0.9692760399685444,
        -0.24597550263098183,
        0.00010221708673606444
      ],
      [
        -6.29991250420403e-05,
        0.00016730748477056245,
        0.999999984019658
      ],
      [
        -0.2459755158018928,
        -0.9692760309187686,
        0.0001466708948479889
      ]
    ],
    "position_light": [
      317.419922,
      217.322845,
      146.217758
    ],
    "rotation_matrix_light": [
      [
        0.24474210189858836,
        0.42462931018874833,
        0.8716600555760764
      ],
      [
        0.4352723986404143,
        0.7552014244350551,
        -0.4901109542879896
      ],
      [
        -0.8663943920294505,
        0.4993603483056011,
        1.6559416238237645e-07
      ]
    ],
    "servo_angle": [
      [
        90.337625,
        -23.836362,
        -65.935697,
        143.383089,
        0.052769,
        -38.862581,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.962482,
        -24.384224,
        -15.298546,
        -235.307693,
        65.241845,
        61.990997,
        0.0
      ]
    ],
    "turn_angle": 1090.7356031623003,
    "filename": "scan-0384_light-38_camera-384.png"
  },
  {
    "id": 385,
    "scan_id": "0385",
    "camera_id": 385,
    "light_id": 38,
    "position": [
      311.090271,
      -136.381149,
      432.296082
    ],
    "rotation_matrix": [
      [
        0.9438569717342173,
        -0.3303543607708489,
        0.00011501476854275383
      ],
      [
        -6.324142808955546e-05,
        0.00016746836265785214,
        0.9999999839774346
      ],
      [
        -0.3303543747390595,
        -0.9438569638849054,
        0.00013717410008878828
      ]
    ],
    "position_light": [
      317.419922,
      217.322845,
      146.217758
    ],
    "rotation_matrix_light": [
      [
        0.24474210189858836,
        0.42462931018874833,
        0.8716600555760764
      ],
      [
        0.4352723986404143,
        0.7552014244350551,
        -0.4901109542879896
      ],
      [
        -0.8663943920294505,
        0.4993603483056011,
        1.6559416238237645e-07
      ]
    ],
    "servo_angle": [
      [
        84.212821,
        -24.509702,
        -60.804688,
        126.862997,
        7.54637,
        -17.401416,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.962482,
        -24.384224,
        -15.298546,
        -235.307693,
        65.241845,
        61.990997,
        0.0
      ]
    ],
    "turn_angle": 1090.7356031623003,
    "filename": "scan-0385_light-38_camera-385.png"
  },
  {
    "id": 386,
    "scan_id": "0386",
    "camera_id": 386,
    "light_id": 38,
    "position": [
      316.46991,
      -136.381149,
      430.62973
    ],
    "rotation_matrix": [
      [
        0.940222248212971,
        -0.34056146357701866,
        0.00011615345590090809
      ],
      [
        -6.299789001851241e-05,
        0.00016713998014994402,
        0.9999999840477463
      ],
      [
        -0.3405614775581821,
        -0.9402222405317298,
        0.00013569407427582725
      ]
    ],
    "position_light": [
      317.419922,
      217.322845,
      146.217758
    ],
    "rotation_matrix_light": [
      [
        0.24474210189858836,
        0.42462931018874833,
        0.8716600555760764
      ],
      [
        0.4352723986404143,
        0.7552014244350551,
        -0.4901109542879896
      ],
      [
        -0.8663943920294505,
        0.4993603483056011,
        1.6559416238237645e-07
      ]
    ],
    "servo_angle": [
      [
        83.275863,
        -24.485695,
        -60.347467,
        125.728369,
        8.581074,
        -15.695147,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.962482,
        -24.384224,
        -15.298546,
        -235.307693,
        65.241845,
        61.990997,
        0.0
      ]
    ],
    "turn_angle": 1090.7356031623003,
    "filename": "scan-0386_light-38_camera-386.png"
  },
  {
    "id": 387,
    "scan_id": "0387",
    "camera_id": 387,
    "light_id": 38,
    "position": [
      354.915497,
      -136.381149,
      416.808685
    ],
    "rotation_matrix": [
      [
        0.9105680966798434,
        -0.4133590756095295,
        0.00012617480991269914
      ],
      [
        -6.282270216889652e-05,
        0.00016685362348323185,
        0.9999999841065882
      ],
      [
        -0.41335909009256766,
        -0.9105680901344521,
        0.00012596325226343907
      ]
    ],
    "position_light": [
      317.419922,
      217.322845,
      146.217758
    ],
    "rotation_matrix_light": [
      [
        0.24474210189858836,
        0.42462931018874833,
        0.8716600555760764
      ],
      [
        0.4352723986404143,
        0.7552014244350551,
        -0.4901109542879896
      ],
      [
        -0.8663943920294505,
        0.4993603483056011,
        1.6559416238237645e-07
      ]
    ],
    "servo_angle": [
      [
        76.203444,
        -23.600418,
        -57.914918,
        120.572723,
        16.274981,
        -6.628663,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.962482,
        -24.384224,
        -15.298546,
        -235.307693,
        65.241845,
        61.990997,
        0.0
      ]
    ],
    "turn_angle": 1090.7356031623003,
    "filename": "scan-0387_light-38_camera-387.png"
  },
  {
    "id": 388,
    "scan_id": "0388",
    "camera_id": 388,
    "light_id": 38,
    "position": [
      402.224457,
      -136.381149,
      394.84668
    ],
    "rotation_matrix": [
      [
        0.8645530518246489,
        -0.5025415419628284,
        0.00013850021440198201
      ],
      [
        -6.311853077034524e-05,
        0.00016701284726128307,
        0.9999999840613801
      ],
      [
        -0.5025415570843248,
        -0.8645530467867962,
        0.00011267178301388459
      ]
    ],
    "position_light": [
      317.419922,
      217.322845,
      146.217758
    ],
    "rotation_matrix_light": [
      [
        0.24474210189858836,
        0.42462931018874833,
        0.8716600555760764
      ],
      [
        0.4352723986404143,
        0.7552014244350551,
        -0.4901109542879896
      ],
      [
        -0.8663943920294505,
        0.4993603483056011,
        1.6559416238237645e-07
      ]
    ],
    "servo_angle": [
      [
        67.516487,
        -20.819968,
        -56.421217,
        118.167446,
        25.819025,
        0.174122,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.962482,
        -24.384224,
        -15.298546,
        -235.307693,
        65.241845,
        61.990997,
        0.0
      ]
    ],
    "turn_angle": 1090.7356031623003,
    "filename": "scan-0388_light-38_camera-388.png"
  },
  {
    "id": 389,
    "scan_id": "0389",
    "camera_id": 389,
    "light_id": 38,
    "position": [
      411.338684,
      -136.381149,
      389.929138
    ],
    "rotation_matrix": [
      [
        0.8543684499666258,
        -0.5196677129734897,
        0.00014069302859676114
      ],
      [
        -6.322494021826497e-05,
        0.00016679048942486174,
        0.9999999840917697
      ],
      [
        -0.5196677281727551,
        -0.8543684452704439,
        0.0001096445718329897
      ]
    ],
    "position_light": [
      317.419922,
      217.322845,
      146.217758
    ],
    "rotation_matrix_light": [
      [
        0.24474210189858836,
        0.42462931018874833,
        0.8716600555760764
      ],
      [
        0.4352723986404143,
        0.7552014244350551,
        -0.4901109542879896
      ],
      [
        -0.8663943920294505,
        0.4993603483056011,
        1.6559416238237645e-07
      ]
    ],
    "servo_angle": [
      [
        65.913752,
        -20.074665,
        -56.281988,
        117.960895,
        27.614045,
        1.17548,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -77.962482,
        -24.384224,
        -15.298546,
        -235.307693,
        65.241845,
        61.990997,
        0.0
      ]
    ],
    "turn_angle": 1090.7356031623003,
    "filename": "scan-0389_light-38_camera-389.png"
  },
  {
    "id": 390,
    "scan_id": "0390",
    "camera_id": 390,
    "light_id": 39,
    "position": [
      439.023376,
      -136.381149,
      373.49469
    ],
    "rotation_matrix": [
      [
        0.8205544087014621,
        -0.5715684041359645,
        0.00014749258086899086
      ],
      [
        -6.318591158227527e-05,
        0.0001673379765233518,
        0.9999999840027713
      ],
      [
        -0.5715684196735639,
        -0.8205544048943185,
        0.00010119484373249943
      ]
    ],
    "position_light": [
      310.80426,
      214.860046,
      173.213959
    ],
    "rotation_matrix_light": [
      [
        0.2633585170145594,
        0.4004317888901056,
        0.8776654681381525
      ],
      [
        0.4822724478129972,
        0.7332870925106043,
        -0.4792737485381448
      ],
      [
        -0.8354972038231799,
        0.5494946973389414,
        1.8221934222628633e-07
      ]
    ],
    "servo_angle": [
      [
        61.244547,
        -17.401473,
        -56.119554,
        117.623365,
        32.929718,
        3.827358,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.053222,
        -29.16825,
        -16.249255,
        -239.33679,
        63.232654,
        71.470412,
        0.0
      ]
    ],
    "turn_angle": 1114.8169307315807,
    "filename": "scan-0390_light-39_camera-390.png"
  },
  {
    "id": 391,
    "scan_id": "0391",
    "camera_id": 391,
    "light_id": 39,
    "position": [
      480.672821,
      -136.381149,
      344.023926
    ],
    "rotation_matrix": [
      [
        0.76055878315204,
        -0.6492690604450386,
        0.00015658577523236517
      ],
      [
        -6.313235654908933e-05,
        0.00016721866337227054,
        0.9999999840261119
      ],
      [
        -0.6492690762577513,
        -0.760558780888588,
        8.61897373143905e-05
      ]
    ],
    "position_light": [
      310.80426,
      214.860046,
      173.213959
    ],
    "rotation_matrix_light": [
      [
        0.2633585170145594,
        0.4004317888901056,
        0.8776654681381525
      ],
      [
        0.4822724478129972,
        0.7332870925106043,
        -0.4792737485381448
      ],
      [
        -0.8354972038231799,
        0.5494946973389414,
        1.8221934222628633e-07
      ]
    ],
    "servo_angle": [
      [
        54.850396,
        -12.219757,
        -56.587489,
        117.619412,
        40.479984,
        7.061075,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.053222,
        -29.16825,
        -16.249255,
        -239.33679,
        63.232654,
        71.470412,
        0.0
      ]
    ],
    "turn_angle": 1114.8169307315807,
    "filename": "scan-0391_light-39_camera-391.png"
  },
  {
    "id": 392,
    "scan_id": "0392",
    "camera_id": 392,
    "light_id": 39,
    "position": [
      498.278534,
      -136.381149,
      329.587463
    ],
    "rotation_matrix": [
      [
        0.7313943348576329,
        -0.6819547649072105,
        0.00015987029660874397
      ],
      [
        -6.28943340564847e-05,
        0.00016697549500344078,
        0.9999999840817432
      ],
      [
        -0.6819547807461013,
        -0.731394333270046,
        7.923384031005565e-05
      ]
    ],
    "position_light": [
      310.80426,
      214.860046,
      173.213959
    ],
    "rotation_matrix_light": [
      [
        0.2633585170145594,
        0.4004317888901056,
        0.8776654681381525
      ],
      [
        0.4822724478129972,
        0.7332870925106043,
        -0.4792737485381448
      ],
      [
        -0.8354972038231799,
        0.5494946973389414,
        1.8221934222628633e-07
      ]
    ],
    "servo_angle": [
      [
        52.384156,
        -9.601168,
        -57.046142,
        117.716184,
        43.502565,
        8.258671,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.053222,
        -29.16825,
        -16.249255,
        -239.33679,
        63.232654,
        71.470412,
        0.0
      ]
    ],
    "turn_angle": 1114.8169307315807,
    "filename": "scan-0392_light-39_camera-392.png"
  },
  {
    "id": 393,
    "scan_id": "0393",
    "camera_id": 393,
    "light_id": 39,
    "position": [
      523.405762,
      -136.381149,
      306.57486
    ],
    "rotation_matrix": [
      [
        0.6851395985458979,
        -0.7284117676532311,
        0.00016507168510471182
      ],
      [
        -6.303031156590366e-05,
        0.00016733271689989282,
        0.9999999840134709
      ],
      [
        -0.7284117836303486,
        -0.6851395979974134,
        6.873424981695964e-05
      ]
    ],
    "position_light": [
      310.80426,
      214.860046,
      173.213959
    ],
    "rotation_matrix_light": [
      [
        0.2633585170145594,
        0.4004317888901056,
        0.8776654681381525
      ],
      [
        0.4822724478129972,
        0.7332870925106043,
        -0.4792737485381448
      ],
      [
        -0.8354972038231799,
        0.5494946973389414,
        1.8221934222628633e-07
      ]
    ],
    "servo_angle": [
      [
        49.102655,
        -5.397893,
        -57.988829,
        117.905146,
        47.649405,
        9.874698,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.053222,
        -29.16825,
        -16.249255,
        -239.33679,
        63.232654,
        71.470412,
        0.0
      ]
    ],
    "turn_angle": 1114.8169307315807,
    "filename": "scan-0393_light-39_camera-393.png"
  },
  {
    "id": 394,
    "scan_id": "0394",
    "camera_id": 394,
    "light_id": 39,
    "position": [
      558.199524,
      -136.381149,
      269.019165
    ],
    "rotation_matrix": [
      [
        0.6101519225657663,
        -0.7922844200702291,
        0.00017059683336628773
      ],
      [
        -6.284069330042552e-05,
        0.00016692800902018412,
        0.9999999840930434
      ],
      [
        -0.792284435944785,
        -0.6101519235805295,
        5.2063743385399874e-05
      ]
    ],
    "position_light": [
      310.80426,
      214.860046,
      173.213959
    ],
    "rotation_matrix_light": [
      [
        0.2633585170145594,
        0.4004317888901056,
        0.8776654681381525
      ],
      [
        0.4822724478129972,
        0.7332870925106043,
        -0.4792737485381448
      ],
      [
        -0.8354972038231799,
        0.5494946973389414,
        1.8221934222628633e-07
      ]
    ],
    "servo_angle": [
      [
        44.996496,
        1.426378,
        -59.927547,
        118.215059,
        53.101728,
        12.064199,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.053222,
        -29.16825,
        -16.249255,
        -239.33679,
        63.232654,
        71.470412,
        0.0
      ]
    ],
    "turn_angle": 1114.8169307315807,
    "filename": "scan-0394_light-39_camera-394.png"
  },
  {
    "id": 395,
    "scan_id": "0395",
    "camera_id": 395,
    "light_id": 39,
    "position": [
      577.119141,
      -136.381149,
      245.069778
    ],
    "rotation_matrix": [
      [
        0.5625941748870835,
        -0.8267331880949207,
        0.00017345180994771114
      ],
      [
        -6.300929782299125e-05,
        0.00016692585377625635,
        0.9999999840827939
      ],
      [
        -0.8267332038892294,
        -0.5625941768612327,
        4.1819635303752545e-05
      ]
    ],
    "position_light": [
      310.80426,
      214.860046,
      173.213959
    ],
    "rotation_matrix_light": [
      [
        0.2633585170145594,
        0.4004317888901056,
        0.8776654681381525
      ],
      [
        0.4822724478129972,
        0.7332870925106043,
        -0.4792737485381448
      ],
      [
        -0.8354972038231799,
        0.5494946973389414,
        1.8221934222628633e-07
      ]
    ],
    "servo_angle": [
      [
        42.960719,
        5.714223,
        -61.352263,
        118.393764,
        55.951792,
        13.303106,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.053222,
        -29.16825,
        -16.249255,
        -239.33679,
        63.232654,
        71.470412,
        0.0
      ]
    ],
    "turn_angle": 1114.8169307315807,
    "filename": "scan-0395_light-39_camera-395.png"
  },
  {
    "id": 396,
    "scan_id": "0396",
    "camera_id": 396,
    "light_id": 39,
    "position": [
      593.192871,
      -136.381149,
      222.185577
    ],
    "rotation_matrix": [
      [
        0.5173131033381785,
        -0.8557961919010932,
        0.0001761879962334234
      ],
      [
        -6.31114305627567e-05,
        0.00016772641051937542,
        0.999999983942399
      ],
      [
        -0.8557962077104397,
        -0.5173131061508476,
        3.275654799655969e-05
      ]
    ],
    "position_light": [
      310.80426,
      214.860046,
      173.213959
    ],
    "rotation_matrix_light": [
      [
        0.2633585170145594,
        0.4004317888901056,
        0.8776654681381525
      ],
      [
        0.4822724478129972,
        0.7332870925106043,
        -0.4792737485381448
      ],
      [
        -0.8354972038231799,
        0.5494946973389414,
        1.8221934222628633e-07
      ]
    ],
    "servo_angle": [
      [
        41.330941,
        9.752085,
        -62.818921,
        118.549781,
        58.329109,
        14.426905,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.053222,
        -29.16825,
        -16.249255,
        -239.33679,
        63.232654,
        71.470412,
        0.0
      ]
    ],
    "turn_angle": 1114.8169307315807,
    "filename": "scan-0396_light-39_camera-396.png"
  },
  {
    "id": 397,
    "scan_id": "0397",
    "camera_id": 397,
    "light_id": 39,
    "position": [
      613.717712,
      -136.381149,
      188.518997
    ],
    "rotation_matrix": [
      [
        0.45094723344216403,
        -0.8925505931887672,
        0.00017677454181341812
      ],
      [
        -6.268077371113234e-05,
        0.00016638700221305314,
        0.9999999841932431
      ],
      [
        -0.8925506084934228,
        -0.4509472373945157,
        1.9085996571299724e-05
      ]
    ],
    "position_light": [
      310.80426,
      214.860046,
      173.213959
    ],
    "rotation_matrix_light": [
      [
        0.2633585170145594,
        0.4004317888901056,
        0.8776654681381525
      ],
      [
        0.4822724478129972,
        0.7332870925106043,
        -0.4792737485381448
      ],
      [
        -0.8354972038231799,
        0.5494946973389414,
        1.8221934222628633e-07
      ]
    ],
    "servo_angle": [
      [
        39.371941,
        15.58216,
        -65.12966,
        118.759655,
        61.338856,
        16.027234,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.053222,
        -29.16825,
        -16.249255,
        -239.33679,
        63.232654,
        71.470412,
        0.0
      ]
    ],
    "turn_angle": 1114.8169307315807,
    "filename": "scan-0397_light-39_camera-397.png"
  },
  {
    "id": 398,
    "scan_id": "0398",
    "camera_id": 398,
    "light_id": 39,
    "position": [
      636.070801,
      -136.381149,
      143.53833
    ],
    "rotation_matrix": [
      [
        0.36268393878601624,
        -0.9319121894672633,
        0.00017795784009150273
      ],
      [
        -6.274324684407695e-05,
        0.0001665413019915074,
        0.9999999841636398
      ],
      [
        -0.9319122043464965,
        -0.3626839442080754,
        1.9306588361356347e-06
      ]
    ],
    "position_light": [
      310.80426,
      214.860046,
      173.213959
    ],
    "rotation_matrix_light": [
      [
        0.2633585170145594,
        0.4004317888901056,
        0.8776654681381525
      ],
      [
        0.4822724478129972,
        0.7332870925106043,
        -0.4792737485381448
      ],
      [
        -0.8354972038231799,
        0.5494946973389414,
        1.8221934222628633e-07
      ]
    ],
    "servo_angle": [
      [
        37.3761,
        23.174367,
        -68.451096,
        119.022585,
        64.661381,
        18.143568,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.053222,
        -29.16825,
        -16.249255,
        -239.33679,
        63.232654,
        71.470412,
        0.0
      ]
    ],
    "turn_angle": 1114.8169307315807,
    "filename": "scan-0398_light-39_camera-398.png"
  },
  {
    "id": 399,
    "scan_id": "0399",
    "camera_id": 399,
    "light_id": 39,
    "position": [
      646.193726,
      -136.381149,
      118.704445
    ],
    "rotation_matrix": [
      [
        0.3141320867394044,
        -0.9493792710124307,
        0.00017847311512642072
      ],
      [
        -6.282556342757095e-05,
        0.0001672014460248894,
        0.9999999840483123
      ],
      [
        -0.949379285709192,
        -0.3141320929411415,
        -7.1219484622520035e-06
      ]
    ],
    "position_light": [
      310.80426,
      214.860046,
      173.213959
    ],
    "rotation_matrix_light": [
      [
        0.2633585170145594,
        0.4004317888901056,
        0.8776654681381525
      ],
      [
        0.4822724478129972,
        0.7332870925106043,
        -0.4792737485381448
      ],
      [
        -0.8354972038231799,
        0.5494946973389414,
        1.8221934222628633e-07
      ]
    ],
    "servo_angle": [
      [
        36.511965,
        27.278521,
        -70.383854,
        119.16846,
        66.227848,
        19.325924,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.053222,
        -29.16825,
        -16.249255,
        -239.33679,
        63.232654,
        71.470412,
        0.0
      ]
    ],
    "turn_angle": 1114.8169307315807,
    "filename": "scan-0399_light-39_camera-399.png"
  },
  {
    "id": 400,
    "scan_id": "0400",
    "camera_id": 400,
    "light_id": 40,
    "position": [
      643.831726,
      -136.381149,
      124.838036
    ],
    "rotation_matrix": [
      [
        0.3261124924681915,
        -0.9453309527203848,
        0.00017912273274711676
      ],
      [
        -6.293922549160946e-05,
        0.00016776924707267993,
        0.9999999839460667
      ],
      [
        -0.9453309675953907,
        -0.3261124985066494,
        -4.786750675112028e-06
      ]
    ],
    "position_light": [
      132.722107,
      195.316406,
      329.161591
    ],
    "rotation_matrix_light": [
      [
        0.10246387402493279,
        -0.08071115960776226,
        -0.9914569396774492
      ],
      [
        -0.778846267900869,
        0.61350252991453,
        -0.1304344155710413
      ],
      [
        0.6187888537269323,
        0.785557352777785,
        2.6050068296923357e-07
      ]
    ],
    "servo_angle": [
      [
        36.711755,
        26.270172,
        -69.900393,
        119.13202,
        65.856342,
        19.032226,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -88.049289,
        -34.77722,
        -34.731212,
        -91.174602,
        84.522161,
        59.024279,
        0.0
      ]
    ],
    "turn_angle": 1157.695702482148,
    "filename": "scan-0400_light-40_camera-400.png"
  },
  {
    "id": 401,
    "scan_id": "0401",
    "camera_id": 401,
    "light_id": 40,
    "position": [
      628.744202,
      -136.381149,
      159.522766
    ],
    "rotation_matrix": [
      [
        0.39399975099608564,
        -0.9191105288742591,
        0.00017868268511361807
      ],
      [
        -6.303772771543148e-05,
        0.0001673855628883114,
        0.9999999840041589
      ],
      [
        -0.9191105440812151,
        -0.39399975595747866,
        8.01123083871147e-06
      ]
    ],
    "position_light": [
      132.722107,
      195.316406,
      329.161591
    ],
    "rotation_matrix_light": [
      [
        0.10246387402493279,
        -0.08071115960776226,
        -0.9914569396774492
      ],
      [
        -0.778846267900869,
        0.61350252991453,
        -0.1304344155710413
      ],
      [
        0.6187888537269323,
        0.785557352777785,
        2.6050068296923357e-07
      ]
    ],
    "servo_angle": [
      [
        38.015922,
        20.500888,
        -67.243072,
        118.929881,
        63.558953,
        17.389842,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -88.049289,
        -34.77722,
        -34.731212,
        -91.174602,
        84.522161,
        59.024279,
        0.0
      ]
    ],
    "turn_angle": 1157.695702482148,
    "filename": "scan-0401_light-40_camera-401.png"
  },
  {
    "id": 402,
    "scan_id": "0402",
    "camera_id": 402,
    "light_id": 40,
    "position": [
      607.231934,
      -136.381149,
      199.792862
    ],
    "rotation_matrix": [
      [
        0.47313978751774943,
        -0.8809873495224503,
        0.0001773388474981541
      ],
      [
        -6.292479538255735e-05,
        0.0001675014067142322,
        0.9999999839918744
      ],
      [
        -0.8809873651240006,
        -0.473139791102679,
        2.3815631278345517e-05
      ]
    ],
    "position_light": [
      132.722107,
      195.316406,
      329.161591
    ],
    "rotation_matrix_light": [
      [
        0.10246387402493279,
        -0.08071115960776226,
        -0.9914569396774492
      ],
      [
        -0.778846267900869,
        0.61350252991453,
        -0.1304344155710413
      ],
      [
        0.6187888537269323,
        0.785557352777785,
        2.6050068296923357e-07
      ]
    ],
    "servo_angle": [
      [
        39.976984,
        13.644417,
        -64.337488,
        118.691416,
        60.388033,
        15.495414,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -88.049289,
        -34.77722,
        -34.731212,
        -91.174602,
        84.522161,
        59.024279,
        0.0
      ]
    ],
    "turn_angle": 1157.695702482148,
    "filename": "scan-0402_light-40_camera-402.png"
  },
  {
    "id": 403,
    "scan_id": "0403",
    "camera_id": 403,
    "light_id": 40,
    "position": [
      595.119629,
      -136.381149,
      219.25798
    ],
    "rotation_matrix": [
      [
        0.5115307592733283,
        -0.8592649483420615,
        0.00017569281914470158
      ],
      [
        -6.291488324983163e-05,
        0.00016701474745955958,
        0.9999999840738957
      ],
      [
        -0.85926496400061,
        -0.5115307621803292,
        3.137262667224361e-05
      ]
    ],
    "position_light": [
      132.722107,
      195.316406,
      329.161591
    ],
    "rotation_matrix_light": [
      [
        0.10246387402493279,
        -0.08071115960776226,
        -0.9914569396774492
      ],
      [
        -0.778846267900869,
        0.61350252991453,
        -0.1304344155710413
      ],
      [
        0.6187888537269323,
        0.785557352777785,
        2.6050068296923357e-07
      ]
    ],
    "servo_angle": [
      [
        41.141406,
        10.264252,
        -63.013039,
        118.56886,
        58.612265,
        14.56791,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -88.049289,
        -34.77722,
        -34.731212,
        -91.174602,
        84.522161,
        59.024279,
        0.0
      ]
    ],
    "turn_angle": 1157.695702482148,
    "filename": "scan-0403_light-40_camera-403.png"
  },
  {
    "id": 404,
    "scan_id": "0404",
    "camera_id": 404,
    "light_id": 40,
    "position": [
      581.689026,
      -136.381149,
      238.825638
    ],
    "rotation_matrix": [
      [
        0.5502238701958182,
        -0.8350171630217408,
        0.00017356802260182214
      ],
      [
        -6.272822127972866e-05,
        0.00016652766114111373,
        0.9999999841668538
      ],
      [
        -0.835017178704669,
        -0.5502238723716567,
        3.924835283330985e-05
      ]
    ],
    "position_light": [
      132.722107,
      195.316406,
      329.161591
    ],
    "rotation_matrix_light": [
      [
        0.10246387402493279,
        -0.08071115960776226,
        -0.9914569396774492
      ],
      [
        -0.778846267900869,
        0.61350252991453,
        -0.1304344155710413
      ],
      [
        0.6187888537269323,
        0.785557352777785,
        2.6050068296923357e-07
      ]
    ],
    "servo_angle": [
      [
        42.488373,
        6.821922,
        -61.743078,
        118.437653,
        56.630977,
        13.614222,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -88.049289,
        -34.77722,
        -34.731212,
        -91.174602,
        84.522161,
        59.024279,
        0.0
      ]
    ],
    "turn_angle": 1157.695702482148,
    "filename": "scan-0404_light-40_camera-404.png"
  },
  {
    "id": 405,
    "scan_id": "0405",
    "camera_id": 405,
    "light_id": 40,
    "position": [
      547.510681,
      -136.381149,
      281.362671
    ],
    "rotation_matrix": [
      [
        0.6347379277726037,
        -0.7727274646066404,
        0.00016878842972850583
      ],
      [
        -6.283592908035152e-05,
        0.00016681700280735123,
        0.9999999841118667
      ],
      [
        -0.7727274804862234,
        -0.6347379282937808,
        5.733003051472396e-05
      ]
    ],
    "position_light": [
      132.722107,
      195.316406,
      329.161591
    ],
    "rotation_matrix_light": [
      [
        0.10246387402493279,
        -0.08071115960776226,
        -0.9914569396774492
      ],
      [
        -0.778846267900869,
        0.61350252991453,
        -0.1304344155710413
      ],
      [
        0.6187888537269323,
        0.785557352777785,
        2.6050068296923357e-07
      ]
    ],
    "servo_angle": [
      [
        46.206296,
        -0.805521,
        -59.245498,
        118.11651,
        51.458887,
        11.386734,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -88.049289,
        -34.77722,
        -34.731212,
        -91.174602,
        84.522161,
        59.024279,
        0.0
      ]
    ],
    "turn_angle": 1157.695702482148,
    "filename": "scan-0405_light-40_camera-405.png"
  },
  {
    "id": 406,
    "scan_id": "0406",
    "camera_id": 406,
    "light_id": 40,
    "position": [
      533.655518,
      -136.381149,
      296.266144
    ],
    "rotation_matrix": [
      [
        0.6644998380839626,
        -0.7472883896487761,
        0.0001669806176580746
      ],
      [
        -6.312633601140982e-05,
        0.0001673158270108499,
        0.9999999840102398
      ],
      [
        -0.747288405638314,
        -0.6644998379996441,
        6.400776197518221e-05
      ]
    ],
    "position_light": [
      132.722107,
      195.316406,
      329.161591
    ],
    "rotation_matrix_light": [
      [
        0.10246387402493279,
        -0.08071115960776226,
        -0.9914569396774492
      ],
      [
        -0.778846267900869,
        0.61350252991453,
        -0.1304344155710413
      ],
      [
        0.6187888537269323,
        0.785557352777785,
        2.6050068296923357e-07
      ]
    ],
    "servo_angle": [
      [
        47.841861,
        -3.516013,
        -58.478193,
        117.992636,
        49.288121,
        10.518073,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -88.049289,
        -34.77722,
        -34.731212,
        -91.174602,
        84.522161,
        59.024279,
        0.0
      ]
    ],
    "turn_angle": 1157.695702482148,
    "filename": "scan-0406_light-40_camera-406.png"
  },
  {
    "id": 407,
    "scan_id": "0407",
    "camera_id": 407,
    "light_id": 40,
    "position": [
      510.763245,
      -136.381149,
      318.532013
    ],
    "rotation_matrix": [
      [
        0.7091397218130484,
        -0.705067960217849,
        0.00016254585091035612
      ],
      [
        -6.310942065534952e-05,
        0.00016706538654021053,
        0.9999999840531786
      ],
      [
        -0.7050679761300417,
        -0.7091397207626986,
        7.39762712437253e-05
      ]
    ],
    "position_light": [
      132.722107,
      195.316406,
      329.161591
    ],
    "rotation_matrix_light": [
      [
        0.10246387402493279,
        -0.08071115960776226,
        -0.9914569396774492
      ],
      [
        -0.778846267900869,
        0.61350252991453,
        -0.1304344155710413
      ],
      [
        0.6187888537269323,
        0.785557352777785,
        2.6050068296923357e-07
      ]
    ],
    "servo_angle": [
      [
        50.719255,
        -7.583326,
        -57.470589,
        117.804477,
        45.586757,
        9.071412,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -88.049289,
        -34.77722,
        -34.731212,
        -91.174602,
        84.522161,
        59.024279,
        0.0
      ]
    ],
    "turn_angle": 1157.695702482148,
    "filename": "scan-0407_light-40_camera-407.png"
  },
  {
    "id": 408,
    "scan_id": "0408",
    "camera_id": 408,
    "light_id": 40,
    "position": [
      467.69696,
      -136.381149,
      353.872559
    ],
    "rotation_matrix": [
      [
        0.7805325684966751,
        -0.6251150981113492,
        0.00015371799195118552
      ],
      [
        -6.322370843192537e-05,
        0.00016696097452223446,
        0.9999999840633976
      ],
      [
        -0.6251151138140443,
        -0.7805325657762595,
        9.079638358316933e-05
      ]
    ],
    "position_light": [
      132.722107,
      195.316406,
      329.161591
    ],
    "rotation_matrix_light": [
      [
        0.10246387402493279,
        -0.08071115960776226,
        -0.9914569396774492
      ],
      [
        -0.778846267900869,
        0.61350252991453,
        -0.1304344155710413
      ],
      [
        0.6187888537269323,
        0.785557352777785,
        2.6050068296923357e-07
      ]
    ],
    "servo_angle": [
      [
        56.758173,
        -13.984868,
        -56.350113,
        117.577586,
        38.187981,
        6.125148,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -88.049289,
        -34.77722,
        -34.731212,
        -91.174602,
        84.522161,
        59.024279,
        0.0
      ]
    ],
    "turn_angle": 1157.695702482148,
    "filename": "scan-0408_light-40_camera-408.png"
  },
  {
    "id": 409,
    "scan_id": "0409",
    "camera_id": 409,
    "light_id": 40,
    "position": [
      457.5354,
      -136.381149,
      361.150604
    ],
    "rotation_matrix": [
      [
        0.795338819987104,
        -0.6061651083012871,
        0.00015132617037977303
      ],
      [
        -6.28266782882747e-05,
        0.00016721132642594227,
        0.9999999840465903
      ],
      [
        -0.6061651239343364,
        -0.7953388168060587,
        9.490631879927047e-05
      ]
    ],
    "position_light": [
      132.722107,
      195.316406,
      329.161591
    ],
    "rotation_matrix_light": [
      [
        0.10246387402493279,
        -0.08071115960776226,
        -0.9914569396774492
      ],
      [
        -0.778846267900869,
        0.61350252991453,
        -0.1304344155710413
      ],
      [
        0.6187888537269323,
        0.785557352777785,
        2.6050068296923357e-07
      ]
    ],
    "servo_angle": [
      [
        58.305732,
        -15.271388,
        -56.222343,
        117.568361,
        36.354802,
        5.351655,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -88.049289,
        -34.77722,
        -34.731212,
        -91.174602,
        84.522161,
        59.024279,
        0.0
      ]
    ],
    "turn_angle": 1157.695702482148,
    "filename": "scan-0409_light-40_camera-409.png"
  },
  {
    "id": 410,
    "scan_id": "0410",
    "camera_id": 410,
    "light_id": 41,
    "position": [
      436.348358,
      -136.381149,
      375.185486
    ],
    "rotation_matrix": [
      [
        0.8240188923468837,
        -0.5665623035284171,
        0.0001458629127131239
      ],
      [
        -6.261854354150387e-05,
        0.0001663789612047495,
        0.9999999841984798
      ],
      [
        -0.5665623188443911,
        -0.8240188884598555,
        0.00010162210104924796
      ]
    ],
    "position_light": [
      137.329941,
      198.406433,
      299.701172
    ],
    "rotation_matrix_light": [
      [
        0.08713468016536235,
        -0.07479145919583113,
        -0.9933850135490461
      ],
      [
        -0.7537854479816484,
        0.6470094926312964,
        -0.11483124512125764
      ],
      [
        0.6513179299877947,
        0.7588049512729546,
        2.516292507137585e-07
      ]
    ],
    "servo_angle": [
      [
        61.681714,
        -17.686577,
        -56.11858,
        117.640783,
        32.425859,
        3.592617,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.513934,
        -33.57103,
        -31.519039,
        -90.504299,
        86.897587,
        65.80575,
        0.0
      ]
    ],
    "turn_angle": 1172.8160894540256,
    "filename": "scan-0410_light-41_camera-410.png"
  },
  {
    "id": 411,
    "scan_id": "0411",
    "camera_id": 411,
    "light_id": 41,
    "position": [
      393.026184,
      -136.381149,
      399.575562
    ],
    "rotation_matrix": [
      [
        0.8743817885243873,
        -0.48523856951460637,
        0.00013620687168258705
      ],
      [
        -6.295096976682846e-05,
        0.00016726553302315317,
        0.9999999840297081
      ],
      [
        -0.48523858454791985,
        -0.8743817831346098,
        0.00011570769740409936
      ]
    ],
    "position_light": [
      137.329941,
      198.406433,
      299.701172
    ],
    "rotation_matrix_light": [
      [
        0.08713468016536235,
        -0.07479145919583113,
        -0.9933850135490461
      ],
      [
        -0.7537854479816484,
        0.6470094926312964,
        -0.11483124512125764
      ],
      [
        0.6513179299877947,
        0.7588049512729546,
        2.516292507137585e-07
      ]
    ],
    "servo_angle": [
      [
        69.162881,
        -21.50408,
        -56.607027,
        118.43983,
        23.988425,
        -0.917363,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.513934,
        -33.57103,
        -31.519039,
        -90.504299,
        86.897587,
        65.80575,
        0.0
      ]
    ],
    "turn_angle": 1172.8160894540256,
    "filename": "scan-0411_light-41_camera-411.png"
  },
  {
    "id": 412,
    "scan_id": "0412",
    "camera_id": 412,
    "light_id": 41,
    "position": [
      364.806213,
      -136.381149,
      412.688232
    ],
    "rotation_matrix": [
      [
        0.9018533899731784,
        -0.432042181247997,
        0.00012890446024824143
      ],
      [
        -6.313438762561852e-05,
        0.00016657284825999374,
        0.9999999841337679
      ],
      [
        -0.4320421958650984,
        -0.9018533838024669,
        0.0001229475693392268
      ]
    ],
    "position_light": [
      137.329941,
      198.406433,
      299.701172
    ],
    "rotation_matrix_light": [
      [
        0.08713468016536235,
        -0.07479145919583113,
        -0.9933850135490461
      ],
      [
        -0.7537854479816484,
        0.6470094926312964,
        -0.11483124512125764
      ],
      [
        0.6513179299877947,
        0.7588049512729546,
        2.516292507137585e-07
      ]
    ],
    "servo_angle": [
      [
        74.354051,
        -23.171674,
        -57.48497,
        119.822033,
        18.287209,
        -4.920676,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.513934,
        -33.57103,
        -31.519039,
        -90.504299,
        86.897587,
        65.80575,
        0.0
      ]
    ],
    "turn_angle": 1172.8160894540256,
    "filename": "scan-0412_light-41_camera-412.png"
  },
  {
    "id": 413,
    "scan_id": "0413",
    "camera_id": 413,
    "light_id": 41,
    "position": [
      330.372589,
      -136.381149,
      426.024261
    ],
    "rotation_matrix": [
      [
        0.9302531999280022,
        -0.3669182055586274,
        0.00012022208409653845
      ],
      [
        -6.325538291485078e-05,
        0.00016728131467680374,
        0.9999999840078592
      ],
      [
        -0.366918219801728,
        -0.9302531926559557,
        0.00013240442667528107
      ]
    ],
    "position_light": [
      137.329941,
      198.406433,
      299.701172
    ],
    "rotation_matrix_light": [
      [
        0.08713468016536235,
        -0.07479145919583113,
        -0.9933850135490461
      ],
      [
        -0.7537854479816484,
        0.6470094926312964,
        -0.11483124512125764
      ],
      [
        0.6513179299877947,
        0.7588049512729546,
        2.516292507137585e-07
      ]
    ],
    "servo_angle": [
      [
        80.770491,
        -24.309969,
        -59.310528,
        123.346469,
        11.318323,
        -11.863951,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.513934,
        -33.57103,
        -31.519039,
        -90.504299,
        86.897587,
        65.80575,
        0.0
      ]
    ],
    "turn_angle": 1172.8160894540256,
    "filename": "scan-0413_light-41_camera-413.png"
  },
  {
    "id": 414,
    "scan_id": "0414",
    "camera_id": 414,
    "light_id": 41,
    "position": [
      312.650177,
      -136.381149,
      431.819458
    ],
    "rotation_matrix": [
      [
        0.9428156752213587,
        -0.3333145500981624,
        0.00011510757209437505
      ],
      [
        -6.317165790131751e-05,
        0.00016665441382857082,
        0.9999999841178239
      ],
      [
        -0.33331456398758696,
        -0.9428156675189302,
        0.00013606836097002084
      ]
    ],
    "position_light": [
      137.329941,
      198.406433,
      299.701172
    ],
    "rotation_matrix_light": [
      [
        0.08713468016536235,
        -0.07479145919583113,
        -0.9933850135490461
      ],
      [
        -0.7537854479816484,
        0.6470094926312964,
        -0.11483124512125764
      ],
      [
        0.6513179299877947,
        0.7588049512729546,
        2.516292507137585e-07
      ]
    ],
    "servo_angle": [
      [
        83.943474,
        -24.505233,
        -60.668725,
        126.520197,
        7.844652,
        -16.892228,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.513934,
        -33.57103,
        -31.519039,
        -90.504299,
        86.897587,
        65.80575,
        0.0
      ]
    ],
    "turn_angle": 1172.8160894540256,
    "filename": "scan-0414_light-41_camera-414.png"
  },
  {
    "id": 415,
    "scan_id": "0415",
    "camera_id": 415,
    "light_id": 41,
    "position": [
      255.606979,
      -136.381149,
      445.872711
    ],
    "rotation_matrix": [
      [
        0.974408469687051,
        -0.22478461769870417,
        9.923802847890129e-05
      ],
      [
        -6.333271275933694e-05,
        0.0001669424516687612,
        0.9999999840595923
      ],
      [
        -0.22478463068258558,
        -0.9744084604395966,
        0.0001484339192309725
      ]
    ],
    "position_light": [
      137.329941,
      198.406433,
      299.701172
    ],
    "rotation_matrix_light": [
      [
        0.08713468016536235,
        -0.07479145919583113,
        -0.9933850135490461
      ],
      [
        -0.7537854479816484,
        0.6470094926312964,
        -0.11483124512125764
      ],
      [
        0.6513179299877947,
        0.7588049512729546,
        2.516292507137585e-07
      ]
    ],
    "servo_angle": [
      [
        91.079262,
        -23.487431,
        -67.508924,
        150.320978,
        -1.350462,
        -47.083838,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.513934,
        -33.57103,
        -31.519039,
        -90.504299,
        86.897587,
        65.80575,
        0.0
      ]
    ],
    "turn_angle": 1172.8160894540256,
    "filename": "scan-0415_light-41_camera-415.png"
  },
  {
    "id": 416,
    "scan_id": "0416",
    "camera_id": 416,
    "light_id": 41,
    "position": [
      234.050034,
      -136.381149,
      449.439728
    ],
    "rotation_matrix": [
      [
        0.9829952456602056,
        -0.18363098444565434,
        9.252541568512129e-05
      ],
      [
        -6.29128986705807e-05,
        0.00016708691084560412,
        0.9999999840619658
      ],
      [
        -0.18363099697872326,
        -0.9829952358142355,
        0.00015269288145608462
      ]
    ],
    "position_light": [
      137.329941,
      198.406433,
      299.701172
    ],
    "rotation_matrix_light": [
      [
        0.08713468016536235,
        -0.07479145919583113,
        -0.9933850135490461
      ],
      [
        -0.7537854479816484,
        0.6470094926312964,
        -0.11483124512125764
      ],
      [
        0.6513179299877947,
        0.7588049512729546,
        2.516292507137585e-07
      ]
    ],
    "servo_angle": [
      [
        91.196776,
        -22.841192,
        -70.210649,
        167.503696,
        -3.254228,
        -66.73016,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.513934,
        -33.57103,
        -31.519039,
        -90.504299,
        86.897587,
        65.80575,
        0.0
      ]
    ],
    "turn_angle": 1172.8160894540256,
    "filename": "scan-0416_light-41_camera-416.png"
  },
  {
    "id": 417,
    "scan_id": "0417",
    "camera_id": 417,
    "light_id": 41,
    "position": [
      208.180481,
      -136.381149,
      452.503876
    ],
    "rotation_matrix": [
      [
        0.9909615256122191,
        -0.1341463665523769,
        8.424428090580971e-05
      ],
      [
        -6.24369044735229e-05,
        0.00016677089386357702,
        0.9999999841445508
      ],
      [
        -0.13414637847492006,
        -0.9909615151600311,
        0.00015688785553685802
      ]
    ],
    "position_light": [
      137.329941,
      198.406433,
      299.701172
    ],
    "rotation_matrix_light": [
      [
        0.08713468016536235,
        -0.07479145919583113,
        -0.9933850135490461
      ],
      [
        -0.7537854479816484,
        0.6470094926312964,
        -0.11483124512125764
      ],
      [
        0.6513179299877947,
        0.7588049512729546,
        2.516292507137585e-07
      ]
    ],
    "servo_angle": [
      [
        89.715622,
        -22.591325,
        -71.208169,
        192.470332,
        -3.901556,
        -94.537119,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.513934,
        -33.57103,
        -31.519039,
        -90.504299,
        86.897587,
        65.80575,
        0.0
      ]
    ],
    "turn_angle": 1172.8160894540256,
    "filename": "scan-0417_light-41_camera-417.png"
  },
  {
    "id": 418,
    "scan_id": "0418",
    "camera_id": 418,
    "light_id": 41,
    "position": [
      170.854462,
      -136.381149,
      454.62851
    ],
    "rotation_matrix": [
      [
        0.9980410697711067,
        -0.06256211064464995,
        7.322452575101585e-05
      ],
      [
        -6.288296096606388e-05,
        0.00016726972349700997,
        0.9999999840332863
      ],
      [
        -0.0625621218939848,
        -0.9980410584402457,
        0.0001630079630176029
      ]
    ],
    "position_light": [
      137.329941,
      198.406433,
      299.701172
    ],
    "rotation_matrix_light": [
      [
        0.08713468016536235,
        -0.07479145919583113,
        -0.9933850135490461
      ],
      [
        -0.7537854479816484,
        0.6470094926312964,
        -0.11483124512125764
      ],
      [
        0.6513179299877947,
        0.7588049512729546,
        2.516292507137585e-07
      ]
    ],
    "servo_angle": [
      [
        89.517895,
        -23.436781,
        -67.730773,
        224.808012,
        -1.444369,
        -130.960047,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.513934,
        -33.57103,
        -31.519039,
        -90.504299,
        86.897587,
        65.80575,
        0.0
      ]
    ],
    "turn_angle": 1172.8160894540256,
    "filename": "scan-0418_light-41_camera-418.png"
  },
  {
    "id": 419,
    "scan_id": "0419",
    "camera_id": 419,
    "light_id": 41,
    "position": [
      126.148918,
      -136.381149,
      453.638367
    ],
    "rotation_matrix": [
      [
        0.9997248481677047,
        0.02345686398894667,
        5.905813794768698e-05
      ],
      [
        -6.298904975778931e-05,
        0.00016684162037283734,
        0.9999999840981264
      ],
      [
        0.023456853762583156,
        -0.9997248359902227,
        0.00016827323916834835
      ]
    ],
    "position_light": [
      137.329941,
      198.406433,
      299.701172
    ],
    "rotation_matrix_light": [
      [
        0.08713468016536235,
        -0.07479145919583113,
        -0.9933850135490461
      ],
      [
        -0.7537854479816484,
        0.6470094926312964,
        -0.11483124512125764
      ],
      [
        0.6513179299877947,
        0.7588049512729546,
        2.516292507137585e-07
      ]
    ],
    "servo_angle": [
      [
        95.478375,
        -24.084911,
        -63.669362,
        244.397554,
        5.563191,
        -155.270474,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -86.513934,
        -33.57103,
        -31.519039,
        -90.504299,
        86.897587,
        65.80575,
        0.0
      ]
    ],
    "turn_angle": 1172.8160894540256,
    "filename": "scan-0419_light-41_camera-419.png"
  },
  {
    "id": 420,
    "scan_id": "0420",
    "camera_id": 420,
    "light_id": 42,
    "position": [
      126.247139,
      -136.381149,
      453.644775
    ],
    "rotation_matrix": [
      [
        0.9997248481677047,
        0.02345686398894667,
        5.905813794768698e-05
      ],
      [
        -6.298904975778931e-05,
        0.00016684162037283734,
        0.9999999840981264
      ],
      [
        0.023456853762583156,
        -0.9997248359902227,
        0.00016827323916834835
      ]
    ],
    "position_light": [
      25.511118,
      222.143799,
      110.348251
    ],
    "rotation_matrix_light": [
      [
        0.17881995456956895,
        -0.3619868457713824,
        -0.9148710003799568
      ],
      [
        -0.4051976950224624,
        0.8202461674916428,
        -0.4037462726314086
      ],
      [
        0.896570271532701,
        0.44290151072643413,
        1.4687170285521134e-07
      ]
    ],
    "servo_angle": [
      [
        95.461243,
        -24.085198,
        -63.674862,
        244.372802,
        5.5452,
        -155.246582,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.991123,
        -10.412935,
        -21.663935,
        -134.635513,
        65.993909,
        132.034629,
        0.0
      ]
    ],
    "turn_angle": 1219.6696493309223,
    "filename": "scan-0420_light-42_camera-420.png"
  },
  {
    "id": 421,
    "scan_id": "0421",
    "camera_id": 421,
    "light_id": 42,
    "position": [
      94.990517,
      -136.381149,
      450.660156
    ],
    "rotation_matrix": [
      [
        0.9964999500335507,
        0.08359334435904126,
        4.8600427195677476e-05
      ],
      [
        -6.278586058088703e-05,
        0.00016706689530260332,
        0.9999999840732939
      ],
      [
        0.08359333490815214,
        -0.9964999372140085,
        0.00017173063288572488
      ]
    ],
    "position_light": [
      25.511118,
      222.143799,
      110.348251
    ],
    "rotation_matrix_light": [
      [
        0.17881995456956895,
        -0.3619868457713824,
        -0.9148710003799568
      ],
      [
        -0.4051976950224624,
        0.8202461674916428,
        -0.4037462726314086
      ],
      [
        0.896570271532701,
        0.44290151072643413,
        1.4687170285521134e-07
      ]
    ],
    "servo_angle": [
      [
        101.195748,
        -23.604773,
        -62.537026,
        249.974439,
        11.467521,
        -163.939211,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.991123,
        -10.412935,
        -21.663935,
        -134.635513,
        65.993909,
        132.034629,
        0.0
      ]
    ],
    "turn_angle": 1219.6696493309223,
    "filename": "scan-0421_light-42_camera-421.png"
  },
  {
    "id": 422,
    "scan_id": "0422",
    "camera_id": 422,
    "light_id": 42,
    "position": [
      68.738876,
      -136.381149,
      446.666931
    ],
    "rotation_matrix": [
      [
        0.9909299750425835,
        0.13437925065284556,
        3.94472417630104e-05
      ],
      [
        -6.243491658612654e-05,
        0.00016685157186496768,
        0.999999984131217
      ],
      [
        0.1343792419385761,
        -0.990929961780616,
        0.00017372818124933298
      ]
    ],
    "position_light": [
      25.511118,
      222.143799,
      110.348251
    ],
    "rotation_matrix_light": [
      [
        0.17881995456956895,
        -0.3619868457713824,
        -0.9148710003799568
      ],
      [
        -0.4051976950224624,
        0.8202461674916428,
        -0.4037462726314086
      ],
      [
        0.896570271532701,
        0.44290151072643413,
        1.4687170285521134e-07
      ]
    ],
    "servo_angle": [
      [
        106.15275,
        -22.624155,
        -62.290253,
        252.36797,
        16.540661,
        -168.840635,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.991123,
        -10.412935,
        -21.663935,
        -134.635513,
        65.993909,
        132.034629,
        0.0
      ]
    ],
    "turn_angle": 1219.6696493309223,
    "filename": "scan-0422_light-42_camera-422.png"
  },
  {
    "id": 423,
    "scan_id": "0423",
    "camera_id": 423,
    "light_id": 42,
    "position": [
      19.420807,
      -136.381149,
      435.369019
    ],
    "rotation_matrix": [
      [
        0.9731686994579759,
        0.23009276795312097,
        2.304220131141288e-05
      ],
      [
        -6.325213257735163e-05,
        0.00016737942264899441,
        0.9999999839916481
      ],
      [
        0.23009276041292465,
        -0.9731686853366174,
        0.00017744227331895068
      ]
    ],
    "position_light": [
      25.511118,
      222.143799,
      110.348251
    ],
    "rotation_matrix_light": [
      [
        0.17881995456956895,
        -0.3619868457713824,
        -0.9148710003799568
      ],
      [
        -0.4051976950224624,
        0.8202461674916428,
        -0.4037462726314086
      ],
      [
        0.896570271532701,
        0.44290151072643413,
        1.4687170285521134e-07
      ]
    ],
    "servo_angle": [
      [
        115.062072,
        -19.507265,
        -62.946461,
        254.234494,
        25.718357,
        -175.190841,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.991123,
        -10.412935,
        -21.663935,
        -134.635513,
        65.993909,
        132.034629,
        0.0
      ]
    ],
    "turn_angle": 1219.6696493309223,
    "filename": "scan-0423_light-42_camera-423.png"
  },
  {
    "id": 424,
    "scan_id": "0424",
    "camera_id": 424,
    "light_id": 42,
    "position": [
      -16.395857,
      -136.381149,
      423.892792
    ],
    "rotation_matrix": [
      [
        0.9539813873749217,
        0.2998658240605666,
        1.013394866297701e-05
      ],
      [
        -6.297073960687127e-05,
        0.0001665377012811664,
        0.9999999841499398
      ],
      [
        0.29986581761999076,
        -0.9539813728924016,
        0.00017775664004238134
      ]
    ],
    "position_light": [
      25.511118,
      222.143799,
      110.348251
    ],
    "rotation_matrix_light": [
      [
        0.17881995456956895,
        -0.3619868457713824,
        -0.9148710003799568
      ],
      [
        -0.4051976950224624,
        0.8202461674916428,
        -0.4037462726314086
      ],
      [
        0.896570271532701,
        0.44290151072643413,
        1.4687170285521134e-07
      ]
    ],
    "servo_angle": [
      [
        120.935348,
        -16.311364,
        -64.094783,
        254.583655,
        31.854333,
        -178.611514,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.991123,
        -10.412935,
        -21.663935,
        -134.635513,
        65.993909,
        132.034629,
        0.0
      ]
    ],
    "turn_angle": 1219.6696493309223,
    "filename": "scan-0424_light-42_camera-424.png"
  },
  {
    "id": 425,
    "scan_id": "0425",
    "camera_id": 425,
    "light_id": 42,
    "position": [
      -42.01823,
      -136.381149,
      413.873962
    ],
    "rotation_matrix": [
      [
        0.936777727958779,
        0.3499249753879048,
        4.026154138969673e-07
      ],
      [
        -6.276709617317189e-05,
        0.00016688206456666466,
        0.9999999841053339
      ],
      [
        0.34992496975877485,
        -0.9367777130942808,
        0.0001782951758653728
      ]
    ],
    "position_light": [
      25.511118,
      222.143799,
      110.348251
    ],
    "rotation_matrix_light": [
      [
        0.17881995456956895,
        -0.3619868457713824,
        -0.9148710003799568
      ],
      [
        -0.4051976950224624,
        0.8202461674916428,
        -0.4037462726314086
      ],
      [
        0.896570271532701,
        0.44290151072643413,
        1.4687170285521134e-07
      ]
    ],
    "servo_angle": [
      [
        124.775712,
        -13.59096,
        -65.206264,
        254.596718,
        35.918667,
        -180.736271,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.991123,
        -10.412935,
        -21.663935,
        -134.635513,
        65.993909,
        132.034629,
        0.0
      ]
    ],
    "turn_angle": 1219.6696493309223,
    "filename": "scan-0425_light-42_camera-425.png"
  },
  {
    "id": 426,
    "scan_id": "0426",
    "camera_id": 426,
    "light_id": 42,
    "position": [
      -56.766541,
      -136.381149,
      407.381104
    ],
    "rotation_matrix": [
      [
        0.9254794389999395,
        0.3787978457762872,
        -4.858163118376391e-06
      ],
      [
        -6.293077658670043e-05,
        0.00016657777639500493,
        0.999999984145781
      ],
      [
        0.3787978405800051,
        -0.9254794240214577,
        0.00017800234965198447
      ]
    ],
    "position_light": [
      25.511118,
      222.143799,
      110.348251
    ],
    "rotation_matrix_light": [
      [
        0.17881995456956895,
        -0.3619868457713824,
        -0.9148710003799568
      ],
      [
        -0.4051976950224624,
        0.8202461674916428,
        -0.4037462726314086
      ],
      [
        0.896570271532701,
        0.44290151072643413,
        1.4687170285521134e-07
      ]
    ],
    "servo_angle": [
      [
        126.84747,
        -11.870368,
        -65.949677,
        254.553231,
        38.132175,
        -181.881269,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.991123,
        -10.412935,
        -21.663935,
        -134.635513,
        65.993909,
        132.034629,
        0.0
      ]
    ],
    "turn_angle": 1219.6696493309223,
    "filename": "scan-0426_light-42_camera-426.png"
  },
  {
    "id": 427,
    "scan_id": "0427",
    "camera_id": 427,
    "light_id": 42,
    "position": [
      -99.214478,
      -136.381149,
      385.488068
    ],
    "rotation_matrix": [
      [
        0.8867995108708091,
        0.46215433252660165,
        -2.1123102514314374e-05
      ],
      [
        -6.296276003117662e-05,
        0.00016652109817422156,
        0.9999999841532075
      ],
      [
        0.46215432872037987,
        -0.8867994954879121,
        0.00017676934074678519
      ]
    ],
    "position_light": [
      25.511118,
      222.143799,
      110.348251
    ],
    "rotation_matrix_light": [
      [
        0.17881995456956895,
        -0.3619868457713824,
        -0.9148710003799568
      ],
      [
        -0.4051976950224624,
        0.8202461674916428,
        -0.4037462726314086
      ],
      [
        0.896570271532701,
        0.44290151072643413,
        1.4687170285521134e-07
      ]
    ],
    "servo_angle": [
      [
        132.263411,
        -6.31388,
        -68.507188,
        254.318891,
        44.003388,
        -184.993576,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.991123,
        -10.412935,
        -21.663935,
        -134.635513,
        65.993909,
        132.034629,
        0.0
      ]
    ],
    "turn_angle": 1219.6696493309223,
    "filename": "scan-0427_light-42_camera-427.png"
  },
  {
    "id": 428,
    "scan_id": "0428",
    "camera_id": 428,
    "light_id": 42,
    "position": [
      -120.393463,
      -136.381149,
      372.619873
    ],
    "rotation_matrix": [
      [
        0.8637614869862854,
        0.5039008758990718,
        -2.9451474728381388e-05
      ],
      [
        -6.306074089901248e-05,
        0.000166542503902245,
        0.9999999841434687
      ],
      [
        0.5039008728138741,
        -0.8637614714327925,
        0.00017562936339088342
      ]
    ],
    "position_light": [
      25.511118,
      222.143799,
      110.348251
    ],
    "rotation_matrix_light": [
      [
        0.17881995456956895,
        -0.3619868457713824,
        -0.9148710003799568
      ],
      [
        -0.4051976950224624,
        0.8202461674916428,
        -0.4037462726314086
      ],
      [
        0.896570271532701,
        0.44290151072643413,
        1.4687170285521134e-07
      ]
    ],
    "servo_angle": [
      [
        134.679287,
        -3.211257,
        -70.021058,
        254.173589,
        46.670105,
        -186.50057,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.991123,
        -10.412935,
        -21.663935,
        -134.635513,
        65.993909,
        132.034629,
        0.0
      ]
    ],
    "turn_angle": 1219.6696493309223,
    "filename": "scan-0428_light-42_camera-428.png"
  },
  {
    "id": 429,
    "scan_id": "0429",
    "camera_id": 429,
    "light_id": 42,
    "position": [
      -167.282669,
      -136.381149,
      338.754486
    ],
    "rotation_matrix": [
      [
        0.8024228960220301,
        0.5967558072682073,
        -4.9308103838408e-05
      ],
      [
        -6.258799443986662e-05,
        0.00016678537786890546,
        0.9999999841326904
      ],
      [
        0.5967558060231687,
        -0.802422880203642,
        0.00017118215507100354
      ]
    ],
    "position_light": [
      25.511118,
      222.143799,
      110.348251
    ],
    "rotation_matrix_light": [
      [
        0.17881995456956895,
        -0.3619868457713824,
        -0.9148710003799568
      ],
      [
        -0.4051976950224624,
        0.8202461674916428,
        -0.4037462726314086
      ],
      [
        0.896570271532701,
        0.44290151072643413,
        1.4687170285521134e-07
      ]
    ],
    "servo_angle": [
      [
        139.422347,
        4.467925,
        -73.992572,
        253.843909,
        52.017005,
        -189.888469,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -115.991123,
        -10.412935,
        -21.663935,
        -134.635513,
        65.993909,
        132.034629,
        0.0
      ]
    ],
    "turn_angle": 1219.6696493309223,
    "filename": "scan-0429_light-42_camera-429.png"
  },
  {
    "id": 430,
    "scan_id": "0430",
    "camera_id": 430,
    "light_id": 43,
    "position": [
      -183.579208,
      -136.381149,
      324.980743
    ],
    "rotation_matrix": [
      [
        0.7772519297319052,
        0.6291895060718258,
        -5.636595886143736e-05
      ],
      [
        -6.295797429456407e-05,
        0.00016735842533388556,
        0.9999999840137253
      ],
      [
        0.6291895054467476,
        -0.7772519137578557,
        0.00016969215579731856
      ]
    ],
    "position_light": [
      145.315567,
      181.917938,
      449.658203
    ],
    "rotation_matrix_light": [
      [
        0.03900412526487862,
        0.022532713888796463,
        0.9989849623578562
      ],
      [
        0.8650118456942679,
        0.49972538641318376,
        -0.04504492183132586
      ],
      [
        -0.5002331306710079,
        0.8658907638836435,
        2.8714025102072327e-07
      ]
    ],
    "servo_angle": [
      [
        140.894562,
        7.420205,
        -75.598286,
        253.733615,
        53.713705,
        -191.121073,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.953362,
        -21.978604,
        -60.68746,
        -273.137633,
        120.339414,
        141.72684,
        0.0
      ]
    ],
    "turn_angle": 1243.4769799212354,
    "filename": "scan-0430_light-43_camera-430.png"
  },
  {
    "id": 431,
    "scan_id": "0431",
    "camera_id": 431,
    "light_id": 43,
    "position": [
      -201.980896,
      -136.381149,
      307.963104
    ],
    "rotation_matrix": [
      [
        0.7460147304148697,
        0.6659294390663604,
        -6.47208775428898e-05
      ],
      [
        -6.266724942832758e-05,
        0.0001673924610593458,
        0.9999999840262898
      ],
      [
        0.6659294392627835,
        -0.7460147144423671,
        0.00016660920797029188
      ]
    ],
    "position_light": [
      145.315567,
      181.917938,
      449.658203
    ],
    "rotation_matrix_light": [
      [
        0.03900412526487862,
        0.022532713888796463,
        0.9989849623578562
      ],
      [
        0.8650118456942679,
        0.49972538641318376,
        -0.04504492183132586
      ],
      [
        -0.5002331306710079,
        0.8658907638836435,
        2.8714025102072327e-07
      ]
    ],
    "servo_angle": [
      [
        142.459023,
        10.953349,
        -77.574761,
        253.613523,
        55.540638,
        -192.572605,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.953362,
        -21.978604,
        -60.68746,
        -273.137633,
        120.339414,
        141.72684,
        0.0
      ]
    ],
    "turn_angle": 1243.4769799212354,
    "filename": "scan-0431_light-43_camera-431.png"
  },
  {
    "id": 432,
    "scan_id": "0432",
    "camera_id": 432,
    "light_id": 43,
    "position": [
      -240.856125,
      -136.381149,
      265.826263
    ],
    "rotation_matrix": [
      [
        0.6681319857512196,
        0.7440427695491408,
        -8.183994052290977e-05
      ],
      [
        -6.280670088498752e-05,
        0.00016639245763294674,
        0.9999999841844338
      ],
      [
        0.7440427713992321,
        -0.6681319700442374,
        0.00015790299480511472
      ]
    ],
    "position_light": [
      145.315567,
      181.917938,
      449.658203
    ],
    "rotation_matrix_light": [
      [
        0.03900412526487862,
        0.022532713888796463,
        0.9989849623578562
      ],
      [
        0.8650118456942679,
        0.49972538641318376,
        -0.04504492183132586
      ],
      [
        -0.5002331306710079,
        0.8658907638836435,
        2.8714025102072327e-07
      ]
    ],
    "servo_angle": [
      [
        145.456394,
        19.250293,
        -82.4441,
        253.37311,
        59.126723,
        -195.951451,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.953362,
        -21.978604,
        -60.68746,
        -273.137633,
        120.339414,
        141.72684,
        0.0
      ]
    ],
    "turn_angle": 1243.4769799212354,
    "filename": "scan-0432_light-43_camera-432.png"
  },
  {
    "id": 433,
    "scan_id": "0433",
    "camera_id": 433,
    "light_id": 43,
    "position": [
      -253.808044,
      -136.381149,
      249.475037
    ],
    "rotation_matrix": [
      [
        0.6377382535184457,
        0.7702531482026207,
        -8.765383426800888e-05
      ],
      [
        -6.313294655407864e-05,
        0.00016607024360498768,
        0.9999999842174527
      ],
      [
        0.7702531506027573,
        -0.6377382379194667,
        0.00015453769795664707
      ]
    ],
    "position_light": [
      145.315567,
      181.917938,
      449.658203
    ],
    "rotation_matrix_light": [
      [
        0.03900412526487862,
        0.022532713888796463,
        0.9989849623578562
      ],
      [
        0.8650118456942679,
        0.49972538641318376,
        -0.04504492183132586
      ],
      [
        -0.5002331306710079,
        0.8658907638836435,
        2.8714025102072327e-07
      ]
    ],
    "servo_angle": [
      [
        146.371637,
        22.32742,
        -84.329876,
        253.295187,
        60.250294,
        -197.211557,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.953362,
        -21.978604,
        -60.68746,
        -273.137633,
        120.339414,
        141.72684,
        0.0
      ]
    ],
    "turn_angle": 1243.4769799212354,
    "filename": "scan-0433_light-43_camera-433.png"
  },
  {
    "id": 434,
    "scan_id": "0434",
    "camera_id": 434,
    "light_id": 43,
    "position": [
      -279.896942,
      -136.381149,
      211.807419
    ],
    "rotation_matrix": [
      [
        0.5674217390057954,
        0.8234273251227064,
        -0.00010170989836638666
      ],
      [
        -6.298548175043273e-05,
        0.00016692332661433218,
        0.9999999840847157
      ],
      [
        0.8234273289953813,
        -0.5674217235688702,
        0.00014657989102745406
      ]
    ],
    "position_light": [
      145.315567,
      181.917938,
      449.658203
    ],
    "rotation_matrix_light": [
      [
        0.03900412526487862,
        0.022532713888796463,
        0.9989849623578562
      ],
      [
        0.8650118456942679,
        0.49972538641318376,
        -0.04504492183132586
      ],
      [
        -0.5002331306710079,
        0.8658907638836435,
        2.8714025102072327e-07
      ]
    ],
    "servo_angle": [
      [
        148.103631,
        29.179938,
        -88.683267,
        253.135389,
        62.426617,
        -200.058814,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.953362,
        -21.978604,
        -60.68746,
        -273.137633,
        120.339414,
        141.72684,
        0.0
      ]
    ],
    "turn_angle": 1243.4769799212354,
    "filename": "scan-0434_light-43_camera-434.png"
  },
  {
    "id": 435,
    "scan_id": "0435",
    "camera_id": 435,
    "light_id": 43,
    "position": [
      -293.429565,
      -136.381149,
      189.034012
    ],
    "rotation_matrix": [
      [
        0.5247286476816384,
        0.8512695428275068,
        -0.00010842714921266428
      ],
      [
        -6.296291805046872e-05,
        0.0001661819050560731,
        0.9999999842096225
      ],
      [
        0.8512695474042695,
        -0.5247286325690854,
        0.00014079882077305816
      ]
    ],
    "position_light": [
      145.315567,
      181.917938,
      449.658203
    ],
    "rotation_matrix_light": [
      [
        0.03900412526487862,
        0.022532713888796463,
        0.9989849623578562
      ],
      [
        0.8650118456942679,
        0.49972538641318376,
        -0.04504492183132586
      ],
      [
        -0.5002331306710079,
        0.8658907638836435,
        2.8714025102072327e-07
      ]
    ],
    "servo_angle": [
      [
        148.948687,
        33.19282,
        -91.331707,
        253.046925,
        63.519476,
        -201.761415,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.953362,
        -21.978604,
        -60.68746,
        -273.137633,
        120.339414,
        141.72684,
        0.0
      ]
    ],
    "turn_angle": 1243.4769799212354,
    "filename": "scan-0435_light-43_camera-435.png"
  },
  {
    "id": 436,
    "scan_id": "0436",
    "camera_id": 436,
    "light_id": 43,
    "position": [
      -305.439484,
      -136.381149,
      166.295761
    ],
    "rotation_matrix": [
      [
        0.4819810514934654,
        0.8761816320992667,
        -0.0001165037265112856
      ],
      [
        -6.265374033231907e-05,
        0.00016743290993614934,
        0.9999999840203644
      ],
      [
        0.8761816376047616,
        -0.4819810364921897,
        0.00013559554644715366
      ]
    ],
    "position_light": [
      145.315567,
      181.917938,
      449.658203
    ],
    "rotation_matrix_light": [
      [
        0.03900412526487862,
        0.022532713888796463,
        0.9989849623578562
      ],
      [
        0.8650118456942679,
        0.49972538641318376,
        -0.04504492183132586
      ],
      [
        -0.5002331306710079,
        0.8658907638836435,
        2.8714025102072327e-07
      ]
    ],
    "servo_angle": [
      [
        149.671244,
        37.12291,
        -93.997451,
        252.961611,
        64.475743,
        -203.459032,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.953362,
        -21.978604,
        -60.68746,
        -273.137633,
        120.339414,
        141.72684,
        0.0
      ]
    ],
    "turn_angle": 1243.4769799212354,
    "filename": "scan-0436_light-43_camera-436.png"
  },
  {
    "id": 437,
    "scan_id": "0437",
    "camera_id": 437,
    "light_id": 43,
    "position": [
      -320.107635,
      -136.381149,
      134.068619
    ],
    "rotation_matrix": [
      [
        0.4212066325141598,
        0.9069646944898095,
        -0.00012520019134049098
      ],
      [
        -6.275926567256285e-05,
        0.00016718931753173516,
        0.9999999840545032
      ],
      [
        0.9069647009599415,
        -0.42120661794033876,
        0.00012734168764699794
      ]
    ],
    "position_light": [
      145.315567,
      181.917938,
      449.658203
    ],
    "rotation_matrix_light": [
      [
        0.03900412526487862,
        0.022532713888796463,
        0.9989849623578562
      ],
      [
        0.8650118456942679,
        0.49972538641318376,
        -0.04504492183132586
      ],
      [
        -0.5002331306710079,
        0.8658907638836435,
        2.8714025102072327e-07
      ]
    ],
    "servo_angle": [
      [
        150.522487,
        42.592136,
        -97.828189,
        252.842436,
        65.6373,
        -205.876226,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.953362,
        -21.978604,
        -60.68746,
        -273.137633,
        120.339414,
        141.72684,
        0.0
      ]
    ],
    "turn_angle": 1243.4769799212354,
    "filename": "scan-0437_light-43_camera-437.png"
  },
  {
    "id": 438,
    "scan_id": "0438",
    "camera_id": 438,
    "light_id": 43,
    "position": [
      -334.720306,
      -136.381149,
      94.321899
    ],
    "rotation_matrix": [
      [
        0.34597083898603476,
        0.9382452560417669,
        -0.00013448575586322287
      ],
      [
        -6.296770860686474e-05,
        0.00016655639205281902,
        0.999999984147018
      ],
      [
        0.938245263567244,
        -0.34597082503310533,
        0.00011670280858117055
      ]
    ],
    "position_light": [
      145.315567,
      181.917938,
      449.658203
    ],
    "rotation_matrix_light": [
      [
        0.03900412526487862,
        0.022532713888796463,
        0.9989849623578562
      ],
      [
        0.8650118456942679,
        0.49972538641318376,
        -0.04504492183132586
      ],
      [
        -0.5002331306710079,
        0.8658907638836435,
        2.8714025102072327e-07
      ]
    ],
    "servo_angle": [
      [
        151.342046,
        49.229737,
        -102.674438,
        252.693582,
        66.808655,
        -208.902475,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.953362,
        -21.978604,
        -60.68746,
        -273.137633,
        120.339414,
        141.72684,
        0.0
      ]
    ],
    "turn_angle": 1243.4769799212354,
    "filename": "scan-0438_light-43_camera-438.png"
  },
  {
    "id": 439,
    "scan_id": "0439",
    "camera_id": 439,
    "light_id": 43,
    "position": [
      -344.157867,
      -136.381149,
      61.318943
    ],
    "rotation_matrix": [
      [
        0.28328464112702445,
        0.9590358658561883,
        -0.00014178506282025438
      ],
      [
        -6.289085731892019e-05,
        0.00016641825421181977,
        0.9999999841748521
      ],
      [
        0.9590358742749266,
        -0.2832846277270189,
        0.00010745832322467397
      ]
    ],
    "position_light": [
      145.315567,
      181.917938,
      449.658203
    ],
    "rotation_matrix_light": [
      [
        0.03900412526487862,
        0.022532713888796463,
        0.9989849623578562
      ],
      [
        0.8650118456942679,
        0.49972538641318376,
        -0.04504492183132586
      ],
      [
        -0.5002331306710079,
        0.8658907638836435,
        2.8714025102072327e-07
      ]
    ],
    "servo_angle": [
      [
        151.861375,
        54.701541,
        -106.842649,
        252.566041,
        67.595097,
        -211.478035,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -122.953362,
        -21.978604,
        -60.68746,
        -273.137633,
        120.339414,
        141.72684,
        0.0
      ]
    ],
    "turn_angle": 1243.4769799212354,
    "filename": "scan-0439_light-43_camera-439.png"
  },
  {
    "id": 440,
    "scan_id": "0440",
    "camera_id": 440,
    "light_id": 44,
    "position": [
      -345.330414,
      -136.381149,
      56.543423
    ],
    "rotation_matrix": [
      [
        0.27419864891417567,
        0.9616730631295032,
        -0.00014347389780766662
      ],
      [
        -6.279276703929915e-05,
        0.00016709585987850772,
        0.9999999840680209
      ],
      [
        0.9616730717820424,
        -0.2741986355365255,
        0.0001062035716389298
      ]
    ],
    "position_light": [
      174.516403,
      219.131714,
      136.071777
    ],
    "rotation_matrix_light": [
      [
        0.06544967784076022,
        0.1077597194022864,
        0.9920202530920832
      ],
      [
        0.5149743930873636,
        0.84788298544623,
        -0.1260786161689966
      ],
      [
        -0.85470329011584,
        0.5191168325773382,
        1.7214566078171956e-07
      ]
    ],
    "servo_angle": [
      [
        151.925718,
        55.493254,
        -107.459495,
        252.547248,
        67.696167,
        -211.856932,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -118.689697,
        -10.141869,
        -25.508368,
        -286.757985,
        102.44451,
        65.00527,
        0.0
      ]
    ],
    "turn_angle": 1260.2074014722314,
    "filename": "scan-0440_light-44_camera-440.png"
  },
  {
    "id": 441,
    "scan_id": "0441",
    "camera_id": 441,
    "light_id": 44,
    "position": [
      -335.843018,
      -136.381149,
      90.792656
    ],
    "rotation_matrix": [
      [
        0.3392771069181388,
        0.9406864654084066,
        -0.00013608341535270574
      ],
      [
        -6.276792819498445e-05,
        0.00016730243290691282,
        0.9999999840350413
      ],
      [
        0.9406864731574727,
        -0.3392770929599198,
        0.0001158068259317635
      ]
    ],
    "position_light": [
      174.516403,
      219.131714,
      136.071777
    ],
    "rotation_matrix_light": [
      [
        0.06544967784076022,
        0.1077597194022864,
        0.9920202530920832
      ],
      [
        0.5149743930873636,
        0.84788298544623,
        -0.1260786161689966
      ],
      [
        -0.85470329011584,
        0.5191168325773382,
        1.7214566078171956e-07
      ]
    ],
    "servo_angle": [
      [
        151.404097,
        49.815644,
        -103.113094,
        252.680117,
        66.900328,
        -209.174687,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -118.689697,
        -10.141869,
        -25.508368,
        -286.757985,
        102.44451,
        65.00527,
        0.0
      ]
    ],
    "turn_angle": 1260.2074014722314,
    "filename": "scan-0441_light-44_camera-441.png"
  },
  {
    "id": 442,
    "scan_id": "0442",
    "camera_id": 442,
    "light_id": 44,
    "position": [
      -320.521973,
      -136.381149,
      133.066345
    ],
    "rotation_matrix": [
      [
        0.41931288584323967,
        0.9078417747863645,
        -0.0001253736729966981
      ],
      [
        -6.289424803340715e-05,
        0.0001671503161207455,
        0.9999999840525424
      ],
      [
        0.9078417812648455,
        -0.4193128712709824,
        0.00012718630718072665
      ]
    ],
    "position_light": [
      174.516403,
      219.131714,
      136.071777
    ],
    "rotation_matrix_light": [
      [
        0.06544967784076022,
        0.1077597194022864,
        0.9920202530920832
      ],
      [
        0.5149743930873636,
        0.84788298544623,
        -0.1260786161689966
      ],
      [
        -0.85470329011584,
        0.5191168325773382,
        1.7214566078171956e-07
      ]
    ],
    "servo_angle": [
      [
        150.546093,
        42.7607,
        -97.948567,
        252.838712,
        65.670188,
        -205.951799,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -118.689697,
        -10.141869,
        -25.508368,
        -286.757985,
        102.44451,
        65.00527,
        0.0
      ]
    ],
    "turn_angle": 1260.2074014722314,
    "filename": "scan-0442_light-44_camera-442.png"
  },
  {
    "id": 443,
    "scan_id": "0443",
    "camera_id": 443,
    "light_id": 44,
    "position": [
      -307.730621,
      -136.381149,
      161.626846
    ],
    "rotation_matrix": [
      [
        0.4731900051897965,
        0.880960388095376,
        -0.0001165989909902021
      ],
      [
        -6.293147403607646e-05,
        0.0001661567712391565,
        0.9999999842157783
      ],
      [
        0.880960393563814,
        -0.4731899903831142,
        0.0001340638592353116
      ]
    ],
    "position_light": [
      174.516403,
      219.131714,
      136.071777
    ],
    "rotation_matrix_light": [
      [
        0.06544967784076022,
        0.1077597194022864,
        0.9920202530920832
      ],
      [
        0.5149743930873636,
        0.84788298544623,
        -0.1260786161689966
      ],
      [
        -0.85470329011584,
        0.5191168325773382,
        1.7214566078171956e-07
      ]
    ],
    "servo_angle": [
      [
        149.806347,
        37.921842,
        -94.548178,
        252.944308,
        64.657313,
        -203.808078,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -118.689697,
        -10.141869,
        -25.508368,
        -286.757985,
        102.44451,
        65.00527,
        0.0
      ]
    ],
    "turn_angle": 1260.2074014722314,
    "filename": "scan-0443_light-44_camera-443.png"
  },
  {
    "id": 444,
    "scan_id": "0444",
    "camera_id": 444,
    "light_id": 44,
    "position": [
      -287.346008,
      -136.381149,
      199.600052
    ],
    "rotation_matrix": [
      [
        0.5445523741356502,
        0.838726833131912,
        -0.0001058666203415104
      ],
      [
        -6.262338412160728e-05,
        0.000166881904370364,
        0.9999999841143711
      ],
      [
        0.8387268374754318,
        -0.544552358855367,
        0.0001433998498694966
      ]
    ],
    "position_light": [
      174.516403,
      219.131714,
      136.071777
    ],
    "rotation_matrix_light": [
      [
        0.06544967784076022,
        0.1077597194022864,
        0.9920202530920832
      ],
      [
        0.5149743930873636,
        0.84788298544623,
        -0.1260786161689966
      ],
      [
        -0.85470329011584,
        0.5191168325773382,
        1.7214566078171956e-07
      ]
    ],
    "servo_angle": [
      [
        148.572998,
        31.341536,
        -90.100707,
        253.087433,
        63.030629,
        -200.972281,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -118.689697,
        -10.141869,
        -25.508368,
        -286.757985,
        102.44451,
        65.00527,
        0.0
      ]
    ],
    "turn_angle": 1260.2074014722314,
    "filename": "scan-0444_light-44_camera-444.png"
  },
  {
    "id": 445,
    "scan_id": "0445",
    "camera_id": 445,
    "light_id": 44,
    "position": [
      -278.024597,
      -136.381149,
      214.760757
    ],
    "rotation_matrix": [
      [
        0.5729488738399695,
        0.8195911041194646,
        -0.00010006871488754676
      ],
      [
        -6.302901883997736e-05,
        0.00016615738993080997,
        0.9999999842095321
      ],
      [
        0.819591107804894,
        -0.5729488584856058,
        0.00014685771258377
      ]
    ],
    "position_light": [
      174.516403,
      219.131714,
      136.071777
    ],
    "rotation_matrix_light": [
      [
        0.06544967784076022,
        0.1077597194022864,
        0.9920202530920832
      ],
      [
        0.5149743930873636,
        0.84788298544623,
        -0.1260786161689966
      ],
      [
        -0.85470329011584,
        0.5191168325773382,
        1.7214566078171956e-07
      ]
    ],
    "servo_angle": [
      [
        147.983998,
        28.652989,
        -88.340982,
        253.147192,
        62.273751,
        -199.837366,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -118.689697,
        -10.141869,
        -25.508368,
        -286.757985,
        102.44451,
        65.00527,
        0.0
      ]
    ],
    "turn_angle": 1260.2074014722314,
    "filename": "scan-0445_light-44_camera-445.png"
  },
  {
    "id": 446,
    "scan_id": "0446",
    "camera_id": 446,
    "light_id": 44,
    "position": [
      -261.80545,
      -136.381149,
      238.663986
    ],
    "rotation_matrix": [
      [
        0.6175974875554615,
        0.7864943323406219,
        -9.252708117957198e-05
      ],
      [
        -6.299311677859798e-05,
        0.0001671105117421745,
        0.9999999840529719
      ],
      [
        0.7864943352606226,
        -0.6175974718780479,
        0.0001527507615189383
      ]
    ],
    "position_light": [
      174.516403,
      219.131714,
      136.071777
    ],
    "rotation_matrix_light": [
      [
        0.06544967784076022,
        0.1077597194022864,
        0.9920202530920832
      ],
      [
        0.5149743930873636,
        0.84788298544623,
        -0.1260786161689966
      ],
      [
        -0.85470329011584,
        0.5191168325773382,
        1.7214566078171956e-07
      ]
    ],
    "servo_angle": [
      [
        146.917838,
        24.325496,
        -85.577263,
        253.247002,
        60.928848,
        -198.03507,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -118.689697,
        -10.141869,
        -25.508368,
        -286.757985,
        102.44451,
        65.00527,
        0.0
      ]
    ],
    "turn_angle": 1260.2074014722314,
    "filename": "scan-0446_light-44_camera-446.png"
  },
  {
    "id": 447,
    "scan_id": "0447",
    "camera_id": 447,
    "light_id": 44,
    "position": [
      -231.2314,
      -136.381149,
      277.154419
    ],
    "rotation_matrix": [
      [
        0.6891369249649826,
        0.724631142412115,
        -7.807894092726197e-05
      ],
      [
        -6.271247144595815e-05,
        0.00016739056922848716,
        0.9999999840237714
      ],
      [
        0.7246311439049207,
        -0.6891369090586501,
        0.00016079843197353005
      ]
    ],
    "position_light": [
      174.516403,
      219.131714,
      136.071777
    ],
    "rotation_matrix_light": [
      [
        0.06544967784076022,
        0.1077597194022864,
        0.9920202530920832
      ],
      [
        0.5149743930873636,
        0.84788298544623,
        -0.1260786161689966
      ],
      [
        -0.85470329011584,
        0.5191168325773382,
        1.7214566078171956e-07
      ]
    ],
    "servo_angle": [
      [
        144.75051,
        17.07546,
        -81.137184,
        253.431322,
        58.270323,
        -195.065028,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -118.689697,
        -10.141869,
        -25.508368,
        -286.757985,
        102.44451,
        65.00527,
        0.0
      ]
    ],
    "turn_angle": 1260.2074014722314,
    "filename": "scan-0447_light-44_camera-447.png"
  },
  {
    "id": 448,
    "scan_id": "0448",
    "camera_id": 448,
    "light_id": 44,
    "position": [
      -200.553391,
      -136.381149,
      309.343292
    ],
    "rotation_matrix": [
      [
        0.7485537926773356,
        0.6630740648278295,
        -6.34119562474833e-05
      ],
      [
        -6.288053750630462e-05,
        0.00016662002925205144,
        0.9999999841419019
      ],
      [
        0.6630740648784378,
        -0.7485537768193181,
        0.0001664185084354619
      ]
    ],
    "position_light": [
      174.516403,
      219.131714,
      136.071777
    ],
    "rotation_matrix_light": [
      [
        0.06544967784076022,
        0.1077597194022864,
        0.9920202530920832
      ],
      [
        0.5149743930873636,
        0.84788298544623,
        -0.1260786161689966
      ],
      [
        -0.85470329011584,
        0.5191168325773382,
        1.7214566078171956e-07
      ]
    ],
    "servo_angle": [
      [
        142.341166,
        10.671167,
        -77.414734,
        253.622633,
        55.402097,
        -192.457268,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -118.689697,
        -10.141869,
        -25.508368,
        -286.757985,
        102.44451,
        65.00527,
        0.0
      ]
    ],
    "turn_angle": 1260.2074014722314,
    "filename": "scan-0448_light-44_camera-448.png"
  },
  {
    "id": 449,
    "scan_id": "0449",
    "camera_id": 449,
    "light_id": 44,
    "position": [
      -185.03624,
      -136.381149,
      323.69223
    ],
    "rotation_matrix": [
      [
        0.774892064221435,
        0.6320935734190349,
        -5.699998425284791e-05
      ],
      [
        -6.276682346378903e-05,
        0.00016712319375683515,
        0.9999999840650817
      ],
      [
        0.6320935728726949,
        -0.7748920482958854,
        0.0001691769423249334
      ]
    ],
    "position_light": [
      174.516403,
      219.131714,
      136.071777
    ],
    "rotation_matrix_light": [
      [
        0.06544967784076022,
        0.1077597194022864,
        0.9920202530920832
      ],
      [
        0.5149743930873636,
        0.84788298544623,
        -0.1260786161689966
      ],
      [
        -0.85470329011584,
        0.5191168325773382,
        1.7214566078171956e-07
      ]
    ],
    "servo_angle": [
      [
        141.022102,
        7.692016,
        -75.748229,
        253.723989,
        53.8617,
        -191.233488,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -118.689697,
        -10.141869,
        -25.508368,
        -286.757985,
        102.44451,
        65.00527,
        0.0
      ]
    ],
    "turn_angle": 1260.2074014722314,
    "filename": "scan-0449_light-44_camera-449.png"
  },
  {
    "id": 450,
    "scan_id": "0450",
    "camera_id": 450,
    "light_id": 45,
    "position": [
      -164.466019,
      -136.381149,
      341.021484
    ],
    "rotation_matrix": [
      [
        0.8065544887619833,
        0.5911597536562438,
        -4.8114288780598535e-05
      ],
      [
        -6.291025356874869e-05,
        0.0001672218631365019,
        0.999999984039574
      ],
      [
        0.5911597522668435,
        -0.806554472862148,
        0.0001720635543340232
      ]
    ],
    "position_light": [
      169.441422,
      220.723877,
      121.264732
    ],
    "rotation_matrix_light": [
      [
        0.05419846538752582,
        0.09655511610476777,
        0.9938509123121192
      ],
      [
        0.4864692634712501,
        0.8666529245328821,
        -0.11072652842179093
      ],
      [
        -0.872015012512615,
        0.48947912923085596,
        1.6231742605565813e-07
      ]
    ],
    "servo_angle": [
      [
        139.159187,
        3.973348,
        -73.727693,
        253.863275,
        51.715801,
        -189.679454,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -119.554348,
        -6.796196,
        -26.184057,
        -288.831004,
        102.508796,
        60.120519,
        0.0
      ]
    ],
    "turn_angle": 1270.4781946065884,
    "filename": "scan-0450_light-45_camera-450.png"
  },
  {
    "id": 451,
    "scan_id": "0451",
    "camera_id": 451,
    "light_id": 45,
    "position": [
      -121.980675,
      -136.381149,
      371.598846
    ],
    "rotation_matrix": [
      [
        0.8619261327458141,
        0.5070338655203682,
        -3.0088508204573206e-05
      ],
      [
        -6.29267469667294e-05,
        0.00016631377334475062,
        0.9999999841899765
      ],
      [
        0.5070338625082842,
        -0.8619261172253698,
        0.00017525617924052384
      ]
    ],
    "position_light": [
      169.441422,
      220.723877,
      121.264732
    ],
    "rotation_matrix_light": [
      [
        0.05419846538752582,
        0.09655511610476777,
        0.9938509123121192
      ],
      [
        0.4864692634712501,
        0.8666529245328821,
        -0.11072652842179093
      ],
      [
        -0.872015012512615,
        0.48947912923085596,
        1.6231742605565813e-07
      ]
    ],
    "servo_angle": [
      [
        134.853123,
        -2.969869,
        -70.141207,
        254.162416,
        46.863307,
        -186.613385,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -119.554348,
        -6.796196,
        -26.184057,
        -288.831004,
        102.508796,
        60.120519,
        0.0
      ]
    ],
    "turn_angle": 1270.4781946065884,
    "filename": "scan-0451_light-45_camera-451.png"
  },
  {
    "id": 452,
    "scan_id": "0452",
    "camera_id": 452,
    "light_id": 45,
    "position": [
      -87.994461,
      -136.381149,
      391.760773
    ],
    "rotation_matrix": [
      [
        0.8979575813798518,
        0.44008201708208206,
        -1.6834874803944855e-05
      ],
      [
        -6.286166093574796e-05,
        0.00016651891399366292,
        0.9999999841599314
      ],
      [
        0.4400820129144778,
        -0.8979575660978738,
        0.0001771912078054605
      ]
    ],
    "position_light": [
      169.441422,
      220.723877,
      121.264732
    ],
    "rotation_matrix_light": [
      [
        0.05419846538752582,
        0.09655511610476777,
        0.9938509123121192
      ],
      [
        0.4864692634712501,
        0.8666529245328821,
        -0.11072652842179093
      ],
      [
        -0.872015012512615,
        0.48947912923085596,
        1.6231742605565813e-07
      ]
    ],
    "servo_angle": [
      [
        130.908423,
        -7.868544,
        -67.770365,
        254.390969,
        42.521604,
        -184.188341,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -119.554348,
        -6.796196,
        -26.184057,
        -288.831004,
        102.508796,
        60.120519,
        0.0
      ]
    ],
    "turn_angle": 1270.4781946065884,
    "filename": "scan-0452_light-45_camera-452.png"
  },
  {
    "id": 453,
    "scan_id": "0453",
    "camera_id": 453,
    "light_id": 45,
    "position": [
      -74.757172,
      -136.381149,
      398.703278
    ],
    "rotation_matrix": [
      [
        0.9102412564754923,
        0.41407831972788467,
        -1.1884827617686389e-05
      ],
      [
        -6.280015252677074e-05,
        0.0001667513460187342,
        0.9999999841250646
      ],
      [
        0.41407831513622906,
        -0.9102412412791021,
        0.00017778813635604962
      ]
    ],
    "position_light": [
      169.441422,
      220.723877,
      121.264732
    ],
    "rotation_matrix_light": [
      [
        0.05419846538752582,
        0.09655511610476777,
        0.9938509123121192
      ],
      [
        0.4864692634712501,
        0.8666529245328821,
        -0.11072652842179093
      ],
      [
        -0.872015012512615,
        0.48947912923085596,
        1.6231742605565813e-07
      ]
    ],
    "servo_angle": [
      [
        129.240027,
        -9.623628,
        -66.957567,
        254.468319,
        40.709453,
        -183.225314,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -119.554348,
        -6.796196,
        -26.184057,
        -288.831004,
        102.508796,
        60.120519,
        0.0
      ]
    ],
    "turn_angle": 1270.4781946065884,
    "filename": "scan-0453_light-45_camera-453.png"
  },
  {
    "id": 454,
    "scan_id": "0454",
    "camera_id": 454,
    "light_id": 45,
    "position": [
      -27.132132,
      -136.381149,
      419.884735
    ],
    "rotation_matrix": [
      [
        0.94713797687912,
        0.3208265149922609,
        5.589974154285304e-06
      ],
      [
        -6.251901735523924e-05,
        0.0001671437959244182,
        0.9999999840771617
      ],
      [
        0.3208265089494627,
        -0.947137962147475,
        0.00017836599517850882
      ]
    ],
    "position_light": [
      169.441422,
      220.723877,
      121.264732
    ],
    "rotation_matrix_light": [
      [
        0.05419846538752582,
        0.09655511610476777,
        0.9938509123121192
      ],
      [
        0.4864692634712501,
        0.8666529245328821,
        -0.11072652842179093
      ],
      [
        -0.872015012512615,
        0.48947912923085596,
        1.6231742605565813e-07
      ]
    ],
    "servo_angle": [
      [
        122.581857,
        -15.213863,
        -64.532294,
        254.606,
        33.591198,
        -179.526585,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -119.554348,
        -6.796196,
        -26.184057,
        -288.831004,
        102.508796,
        60.120519,
        0.0
      ]
    ],
    "turn_angle": 1270.4781946065884,
    "filename": "scan-0454_light-45_camera-454.png"
  },
  {
    "id": 455,
    "scan_id": "0455",
    "camera_id": 455,
    "light_id": 45,
    "position": [
      -9.224445,
      -136.381149,
      426.421143
    ],
    "rotation_matrix": [
      [
        0.9582664591249217,
        0.2858765347950124,
        1.3029982091905534e-05
      ],
      [
        -6.325359013301113e-05,
        0.0001664488202660075,
        0.9999999841468864
      ],
      [
        0.2858765280941541,
        -0.958266444757608,
        0.00017758503878245735
      ]
    ],
    "position_light": [
      169.441422,
      220.723877,
      121.264732
    ],
    "rotation_matrix_light": [
      [
        0.05419846538752582,
        0.09655511610476777,
        0.9938509123121192
      ],
      [
        0.4864692634712501,
        0.8666529245328821,
        -0.11072652842179093
      ],
      [
        -0.872015012512615,
        0.48947912923085596,
        1.6231742605565813e-07
      ]
    ],
    "servo_angle": [
      [
        119.805704,
        -17.009455,
        -63.825722,
        254.551741,
        30.667337,
        -177.97639,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -119.554348,
        -6.796196,
        -26.184057,
        -288.831004,
        102.508796,
        60.120519,
        0.0
      ]
    ],
    "turn_angle": 1270.4781946065884,
    "filename": "scan-0455_light-45_camera-455.png"
  },
  {
    "id": 456,
    "scan_id": "0456",
    "camera_id": 456,
    "light_id": 45,
    "position": [
      14.603477,
      -136.381149,
      433.990479
    ],
    "rotation_matrix": [
      [
        0.9709051807751996,
        0.23946425513792308,
        2.1333455422378744e-05
      ],
      [
        -6.310501277800862e-05,
        0.0001667703128921394,
        0.9999999841027097
      ],
      [
        0.2394642477733033,
        -0.9709051666866862,
        0.00017702955566678558
      ]
    ],
    "position_light": [
      169.441422,
      220.723877,
      121.264732
    ],
    "rotation_matrix_light": [
      [
        0.05419846538752582,
        0.09655511610476777,
        0.9938509123121192
      ],
      [
        0.4864692634712501,
        0.8666529245328821,
        -0.11072652842179093
      ],
      [
        -0.872015012512615,
        0.48947912923085596,
        1.6231742605565813e-07
      ]
    ],
    "servo_angle": [
      [
        115.884897,
        -19.12069,
        -63.071538,
        254.313906,
        26.57298,
        -175.692237,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -119.554348,
        -6.796196,
        -26.184057,
        -288.831004,
        102.508796,
        60.120519,
        0.0
      ]
    ],
    "turn_angle": 1270.4781946065884,
    "filename": "scan-0456_light-45_camera-456.png"
  },
  {
    "id": 457,
    "scan_id": "0457",
    "camera_id": 457,
    "light_id": 45,
    "position": [
      73.745377,
      -136.381149,
      447.534668
    ],
    "rotation_matrix": [
      [
        0.9921964193267556,
        0.12468465736448581,
        4.114688162141361e-05
      ],
      [
        -6.251471066365255e-05,
        0.00016746239315262867,
        0.9999999840241289
      ],
      [
        0.12468464848198452,
        -0.9921964060478388,
        0.0001739502121372305
      ]
    ],
    "position_light": [
      169.441422,
      220.723877,
      121.264732
    ],
    "rotation_matrix_light": [
      [
        0.05419846538752582,
        0.09655511610476777,
        0.9938509123121192
      ],
      [
        0.4864692634712501,
        0.8666529245328821,
        -0.11072652842179093
      ],
      [
        -0.872015012512615,
        0.48947912923085596,
        1.6231742605565813e-07
      ]
    ],
    "servo_angle": [
      [
        105.211552,
        -22.849671,
        -62.298732,
        252.01732,
        15.576946,
        -168.018155,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -119.554348,
        -6.796196,
        -26.184057,
        -288.831004,
        102.508796,
        60.120519,
        0.0
      ]
    ],
    "turn_angle": 1270.4781946065884,
    "filename": "scan-0457_light-45_camera-457.png"
  },
  {
    "id": 458,
    "scan_id": "0458",
    "camera_id": 458,
    "light_id": 45,
    "position": [
      85.973076,
      -136.381149,
      449.443085
    ],
    "rotation_matrix": [
      [
        0.9948837471347294,
        0.10102637090041564,
        4.549562244433175e-05
      ],
      [
        -6.268402947706003e-05,
        0.00016696334096227838,
        0.9999999840969775
      ],
      [
        0.10102636169768986,
        -0.9948837341649197,
        0.0001724418543021522
      ]
    ],
    "position_light": [
      169.441422,
      220.723877,
      121.264732
    ],
    "rotation_matrix_light": [
      [
        0.05419846538752582,
        0.09655511610476777,
        0.9938509123121192
      ],
      [
        0.4864692634712501,
        0.8666529245328821,
        -0.11072652842179093
      ],
      [
        -0.872015012512615,
        0.48947912923085596,
        1.6231742605565813e-07
      ]
    ],
    "servo_angle": [
      [
        102.900985,
        -23.324883,
        -62.392869,
        250.965885,
        13.212808,
        -165.80161,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -119.554348,
        -6.796196,
        -26.184057,
        -288.831004,
        102.508796,
        60.120519,
        0.0
      ]
    ],
    "turn_angle": 1270.4781946065884,
    "filename": "scan-0458_light-45_camera-458.png"
  },
  {
    "id": 459,
    "scan_id": "0459",
    "camera_id": 459,
    "light_id": 45,
    "position": [
      121.368004,
      -136.381149,
      453.304169
    ],
    "rotation_matrix": [
      [
        0.9994660543813775,
        0.03267419220280916,
        5.747360558787731e-05
      ],
      [
        -6.297274409658091e-05,
        0.0001672731607867961,
        0.9999999840270616
      ],
      [
        0.03267418206711463,
        -0.9994660420362383,
        0.00016924142955965227
      ]
    ],
    "position_light": [
      169.441422,
      220.723877,
      121.264732
    ],
    "rotation_matrix_light": [
      [
        0.05419846538752582,
        0.09655511610476777,
        0.9938509123121192
      ],
      [
        0.4864692634712501,
        0.8666529245328821,
        -0.11072652842179093
      ],
      [
        -0.872015012512615,
        0.48947912923085596,
        1.6231742605565813e-07
      ]
    ],
    "servo_angle": [
      [
        96.320393,
        -24.061993,
        -63.419381,
        245.537625,
        6.444056,
        -156.894007,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -119.554348,
        -6.796196,
        -26.184057,
        -288.831004,
        102.508796,
        60.120519,
        0.0
      ]
    ],
    "turn_angle": 1270.4781946065884,
    "filename": "scan-0459_light-45_camera-459.png"
  },
  {
    "id": 460,
    "scan_id": "0460",
    "camera_id": 460,
    "light_id": 46,
    "position": [
      111.637077,
      -136.381149,
      452.486877
    ],
    "rotation_matrix": [
      [
        0.9986757618347657,
        0.05144628053971083,
        5.424371253426319e-05
      ],
      [
        -6.292295061926731e-05,
        0.00016708523700259548,
        0.9999999840616131
      ],
      [
        0.05144627065641653,
        -0.9986757493306592,
        0.00017010112812487765
      ]
    ],
    "position_light": [
      73.530594,
      190.854202,
      401.815186
    ],
    "rotation_matrix_light": [
      [
        0.2580597063773715,
        -0.17459045406562818,
        -0.9502227956082627
      ],
      [
        -0.7870240536890327,
        0.5324626749440191,
        -0.31157124178322676
      ],
      [
        0.5603555361190848,
        0.8282521796775528,
        2.74658823795626e-07
      ]
    ],
    "servo_angle": [
      [
        98.084874,
        -23.957657,
        -63.003127,
        247.498287,
        8.272594,
        -159.828009,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.844752,
        -35.749931,
        -44.306712,
        -96.843676,
        54.345448,
        46.566801,
        0.0
      ]
    ],
    "turn_angle": 1295.8243712554925,
    "filename": "scan-0460_light-46_camera-460.png"
  },
  {
    "id": 461,
    "scan_id": "0461",
    "camera_id": 461,
    "light_id": 46,
    "position": [
      167.804459,
      -136.381149,
      454.683319
    ],
    "rotation_matrix": [
      [
        0.9983910560318521,
        -0.05670356261284497,
        7.226766132862467e-05
      ],
      [
        -6.290501233553389e-05,
        0.00016690059755769537,
        0.9999999840935749
      ],
      [
        -0.05670357377240985,
        -0.9983910446970174,
        0.00016306512554237207
      ]
    ],
    "position_light": [
      73.530594,
      190.854202,
      401.815186
    ],
    "rotation_matrix_light": [
      [
        0.2580597063773715,
        -0.17459045406562818,
        -0.9502227956082627
      ],
      [
        -0.7870240536890327,
        0.5324626749440191,
        -0.31157124178322676
      ],
      [
        0.5603555361190848,
        0.8282521796775528,
        2.74658823795626e-07
      ]
    ],
    "servo_angle": [
      [
        89.745989,
        -23.521178,
        -67.36494,
        226.812391,
        -1.0759,
        -133.297772,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.844752,
        -35.749931,
        -44.306712,
        -96.843676,
        54.345448,
        46.566801,
        0.0
      ]
    ],
    "turn_angle": 1295.8243712554925,
    "filename": "scan-0461_light-46_camera-461.png"
  },
  {
    "id": 462,
    "scan_id": "0462",
    "camera_id": 462,
    "light_id": 46,
    "position": [
      181.36058,
      -136.381149,
      454.302795
    ],
    "rotation_matrix": [
      [
        0.9965717196192264,
        -0.08273331750509245,
        7.635299043134286e-05
      ],
      [
        -6.279038252310354e-05,
        0.00016653350972684056,
        0.9999999841619788
      ],
      [
        -0.08273332891009189,
        -0.996571708629736,
        0.00016076772950912588
      ]
    ],
    "position_light": [
      73.530594,
      190.854202,
      401.815186
    ],
    "rotation_matrix_light": [
      [
        0.2580597063773715,
        -0.17459045406562818,
        -0.9502227956082627
      ],
      [
        -0.7870240536890327,
        0.5324626749440191,
        -0.31157124178322676
      ],
      [
        0.5603555361190848,
        0.8282521796775528,
        2.74658823795626e-07
      ]
    ],
    "servo_angle": [
      [
        89.025265,
        -23.134145,
        -69.000448,
        217.045981,
        -2.534708,
        -122.043677,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.844752,
        -35.749931,
        -44.306712,
        -96.843676,
        54.345448,
        46.566801,
        0.0
      ]
    ],
    "turn_angle": 1295.8243712554925,
    "filename": "scan-0462_light-46_camera-462.png"
  },
  {
    "id": 463,
    "scan_id": "0463",
    "camera_id": 463,
    "light_id": 46,
    "position": [
      222.626785,
      -136.381149,
      450.954987
    ],
    "rotation_matrix": [
      [
        0.9868247693261146,
        -0.16179266568982226,
        8.929413307877387e-05
      ],
      [
        -6.31579928716125e-05,
        0.0001666840693835825,
        0.9999999841137444
      ],
      [
        -0.1617926780034521,
        -0.9868247592888022,
        0.00015426946829344423
      ]
    ],
    "position_light": [
      73.530594,
      190.854202,
      401.815186
    ],
    "rotation_matrix_light": [
      [
        0.2580597063773715,
        -0.17459045406562818,
        -0.9502227956082627
      ],
      [
        -0.7870240536890327,
        0.5324626749440191,
        -0.31157124178322676
      ],
      [
        0.5603555361190848,
        0.8282521796775528,
        2.74658823795626e-07
      ]
    ],
    "servo_angle": [
      [
        90.646278,
        -22.630458,
        -71.058627,
        178.216631,
        -3.770693,
        -78.71065,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.844752,
        -35.749931,
        -44.306712,
        -96.843676,
        54.345448,
        46.566801,
        0.0
      ]
    ],
    "turn_angle": 1295.8243712554925,
    "filename": "scan-0463_light-46_camera-463.png"
  },
  {
    "id": 464,
    "scan_id": "0464",
    "camera_id": 464,
    "light_id": 46,
    "position": [
      265.778442,
      -136.381149,
      443.864014
    ],
    "rotation_matrix": [
      [
        0.9697306580387585,
        -0.24417706785638985,
        0.00010194494750093153
      ],
      [
        -6.302867342602991e-05,
        0.00016719059359371347,
        0.9999999840373456
      ],
      [
        -0.24417708100291202,
        -0.969730648984738,
        0.00014673968767542345
      ]
    ],
    "position_light": [
      73.530594,
      190.854202,
      401.815186
    ],
    "rotation_matrix_light": [
      [
        0.2580597063773715,
        -0.17459045406562818,
        -0.9502227956082627
      ],
      [
        -0.7870240536890327,
        0.5324626749440191,
        -0.31157124178322676
      ],
      [
        0.5603555361190848,
        0.8282521796775528,
        2.74658823795626e-07
      ]
    ],
    "servo_angle": [
      [
        90.417324,
        -23.808173,
        -66.06805,
        143.920638,
        -0.076146,
        -39.50882,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.844752,
        -35.749931,
        -44.306712,
        -96.843676,
        54.345448,
        46.566801,
        0.0
      ]
    ],
    "turn_angle": 1295.8243712554925,
    "filename": "scan-0464_light-46_camera-464.png"
  },
  {
    "id": 465,
    "scan_id": "0465",
    "camera_id": 465,
    "light_id": 46,
    "position": [
      282.414764,
      -136.381149,
      440.120056
    ],
    "rotation_matrix": [
      [
        0.9611987342362934,
        -0.27585681435531084,
        0.00010618986270496955
      ],
      [
        -6.247413198243179e-05,
        0.000167259977014389,
        0.9999999840605414
      ],
      [
        -0.2758568277196165,
        -0.9611987255494254,
        0.00014353616316642448
      ]
    ],
    "position_light": [
      73.530594,
      190.854202,
      401.815186
    ],
    "rotation_matrix_light": [
      [
        0.2580597063773715,
        -0.17459045406562818,
        -0.9502227956082627
      ],
      [
        -0.7870240536890327,
        0.5324626749440191,
        -0.31157124178322676
      ],
      [
        0.5603555361190848,
        0.8282521796775528,
        2.74658823795626e-07
      ]
    ],
    "servo_angle": [
      [
        88.627461,
        -24.236459,
        -63.847036,
        135.74602,
        2.421721,
        -29.434905,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.844752,
        -35.749931,
        -44.306712,
        -96.843676,
        54.345448,
        46.566801,
        0.0
      ]
    ],
    "turn_angle": 1295.8243712554925,
    "filename": "scan-0465_light-46_camera-465.png"
  },
  {
    "id": 466,
    "scan_id": "0466",
    "camera_id": 466,
    "light_id": 46,
    "position": [
      329.636414,
      -136.381149,
      426.279083
    ],
    "rotation_matrix": [
      [
        0.9308021689893685,
        -0.3655233341375549,
        0.00012002354981327512
      ],
      [
        -6.329271172836326e-05,
        0.00016718646617108757,
        0.999999984021359
      ],
      [
        -0.36552334836330186,
        -0.9308021617130308,
        0.00013248256232012423
      ]
    ],
    "position_light": [
      73.530594,
      190.854202,
      401.815186
    ],
    "rotation_matrix_light": [
      [
        0.2580597063773715,
        -0.17459045406562818,
        -0.9502227956082627
      ],
      [
        -0.7870240536890327,
        0.5324626749440191,
        -0.31157124178322676
      ],
      [
        0.5603555361190848,
        0.8282521796775528,
        2.74658823795626e-07
      ]
    ],
    "servo_angle": [
      [
        80.905422,
        -24.323376,
        -59.360548,
        123.455216,
        11.171531,
        -12.048443,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.844752,
        -35.749931,
        -44.306712,
        -96.843676,
        54.345448,
        46.566801,
        0.0
      ]
    ],
    "turn_angle": 1295.8243712554925,
    "filename": "scan-0466_light-46_camera-466.png"
  },
  {
    "id": 467,
    "scan_id": "0467",
    "camera_id": 467,
    "light_id": 46,
    "position": [
      356.965607,
      -136.381149,
      415.974243
    ],
    "rotation_matrix": [
      [
        0.9087997602960034,
        -0.41723252465542476,
        0.00012671064270175503
      ],
      [
        -6.270069957470259e-05,
        0.00016712086383224856,
        0.9999999840696193
      ],
      [
        -0.4172325391847439,
        -0.9087997537633233,
        0.00012571862980997883
      ]
    ],
    "position_light": [
      73.530594,
      190.854202,
      401.815186
    ],
    "rotation_matrix_light": [
      [
        0.2580597063773715,
        -0.17459045406562818,
        -0.9502227956082627
      ],
      [
        -0.7870240536890327,
        0.5324626749440191,
        -0.31157124178322676
      ],
      [
        0.5603555361190848,
        0.8282521796775528,
        2.74658823795626e-07
      ]
    ],
    "servo_angle": [
      [
        75.819677,
        -23.518256,
        -57.820093,
        120.402841,
        16.691979,
        -6.258704,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.844752,
        -35.749931,
        -44.306712,
        -96.843676,
        54.345448,
        46.566801,
        0.0
      ]
    ],
    "turn_angle": 1295.8243712554925,
    "filename": "scan-0467_light-46_camera-467.png"
  },
  {
    "id": 468,
    "scan_id": "0468",
    "camera_id": 468,
    "light_id": 46,
    "position": [
      406.671661,
      -136.381149,
      392.476501
    ],
    "rotation_matrix": [
      [
        0.859639854036194,
        -0.5109004815118279,
        0.0001390813195682461
      ],
      [
        -6.275983233633431e-05,
        0.0001666282717187051,
        0.9999999841481111
      ],
      [
        -0.51090049658797,
        -0.8596398491379988,
        0.0001111762746183742
      ]
    ],
    "position_light": [
      73.530594,
      190.854202,
      401.815186
    ],
    "rotation_matrix_light": [
      [
        0.2580597063773715,
        -0.17459045406562818,
        -0.9502227956082627
      ],
      [
        -0.7870240536890327,
        0.5324626749440191,
        -0.31157124178322676
      ],
      [
        0.5603555361190848,
        0.8282521796775528,
        2.74658823795626e-07
      ]
    ],
    "servo_angle": [
      [
        66.730733,
        -20.464677,
        -56.347764,
        118.059501,
        26.697427,
        0.672022,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.844752,
        -35.749931,
        -44.306712,
        -96.843676,
        54.345448,
        46.566801,
        0.0
      ]
    ],
    "turn_angle": 1295.8243712554925,
    "filename": "scan-0468_light-46_camera-468.png"
  },
  {
    "id": 469,
    "scan_id": "0469",
    "camera_id": 469,
    "light_id": 46,
    "position": [
      412.660889,
      -136.381149,
      389.196136
    ],
    "rotation_matrix": [
      [
        0.8528531184692392,
        -0.5221508770776826,
        0.00014101170312957878
      ],
      [
        -6.311280271670272e-05,
        0.0001669742484368686,
        0.9999999840681868
      ],
      [
        -0.5221508923041955,
        -0.8528531137813866,
        0.00010945010319013404
      ]
    ],
    "position_light": [
      73.530594,
      190.854202,
      401.815186
    ],
    "rotation_matrix_light": [
      [
        0.2580597063773715,
        -0.17459045406562818,
        -0.9502227956082627
      ],
      [
        -0.7870240536890327,
        0.5324626749440191,
        -0.31157124178322676
      ],
      [
        0.5603555361190848,
        0.8282521796775528,
        2.74658823795626e-07
      ]
    ],
    "servo_angle": [
      [
        65.683767,
        -19.96099,
        -56.265372,
        117.935513,
        27.872735,
        1.314766,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -107.844752,
        -35.749931,
        -44.306712,
        -96.843676,
        54.345448,
        46.566801,
        0.0
      ]
    ],
    "turn_angle": 1295.8243712554925,
    "filename": "scan-0469_light-46_camera-469.png"
  },
  {
    "id": 470,
    "scan_id": "0470",
    "camera_id": 470,
    "light_id": 47,
    "position": [
      457.388428,
      -136.381149,
      361.253174
    ],
    "rotation_matrix": [
      [
        0.7955478991528877,
        -0.6058906809513801,
        0.00015129342346864583
      ],
      [
        -6.2843194204798e-05,
        0.00016718964842082906,
        0.9999999840491771
      ],
      [
        -0.6058906965816194,
        -0.7955478959710061,
        9.493126783127748e-05
      ]
    ],
    "position_light": [
      336.645966,
      219.276733,
      115.236191
    ],
    "rotation_matrix_light": [
      [
        0.22732148212177283,
        0.47383468697135617,
        0.8507676728629957
      ],
      [
        0.3679965605940591,
        0.767062034375109,
        -0.5255419743571982
      ],
      [
        -0.9016115988367183,
        0.4325465580062752,
        1.4343787035908662e-07
      ]
    ],
    "servo_angle": [
      [
        58.328479,
        -15.289379,
        -56.220853,
        117.568419,
        36.328045,
        5.340139,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.643927,
        -17.226893,
        -15.572305,
        -226.362447,
        66.423112,
        49.102197,
        0.0
      ]
    ],
    "turn_angle": 1319.5166004556093,
    "filename": "scan-0470_light-47_camera-470.png"
  },
  {
    "id": 471,
    "scan_id": "0471",
    "camera_id": 471,
    "light_id": 47,
    "position": [
      470.60849,
      -136.381149,
      351.71814
    ],
    "rotation_matrix": [
      [
        0.7761572257382148,
        -0.630539401711542,
        0.00015434898055033397
      ],
      [
        -6.286930247118017e-05,
        0.0001674003470774621,
        0.9999999840122868
      ],
      [
        -0.6305394174687321,
        -0.7761572230330487,
        9.028741660915829e-05
      ]
    ],
    "position_light": [
      336.645966,
      219.276733,
      115.236191
    ],
    "rotation_matrix_light": [
      [
        0.22732148212177283,
        0.47383468697135617,
        0.8507676728629957
      ],
      [
        0.3679965605940591,
        0.767062034375109,
        -0.5255419743571982
      ],
      [
        -0.9016115988367183,
        0.4325465580062752,
        1.4343787035908662e-07
      ]
    ],
    "servo_angle": [
      [
        56.323413,
        -13.600815,
        -56.396064,
        117.584289,
        38.707081,
        6.339835,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.643927,
        -17.226893,
        -15.572305,
        -226.362447,
        66.423112,
        49.102197,
        0.0
      ]
    ],
    "turn_angle": 1319.5166004556093,
    "filename": "scan-0471_light-47_camera-471.png"
  },
  {
    "id": 472,
    "scan_id": "0472",
    "camera_id": 472,
    "light_id": 47,
    "position": [
      517.599609,
      -136.381149,
      312.165985
    ],
    "rotation_matrix": [
      [
        0.6963529707044407,
        -0.7176994590188157,
        0.00016344784978139515
      ],
      [
        -6.267638402224218e-05,
        0.000166926363773523,
        0.9999999841036298
      ],
      [
        -0.7176994748937547,
        -0.6963529698792763,
        7.125686239656259e-05
      ]
    ],
    "position_light": [
      336.645966,
      219.276733,
      115.236191
    ],
    "rotation_matrix_light": [
      [
        0.22732148212177283,
        0.47383468697135617,
        0.8507676728629957
      ],
      [
        0.3679965605940591,
        0.767062034375109,
        -0.5255419743571982
      ],
      [
        -0.9016115988367183,
        0.4325465580062752,
        1.4343787035908662e-07
      ]
    ],
    "servo_angle": [
      [
        49.836557,
        -6.419763,
        -57.739421,
        117.857705,
        46.707978,
        9.507662,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.643927,
        -17.226893,
        -15.572305,
        -226.362447,
        66.423112,
        49.102197,
        0.0
      ]
    ],
    "turn_angle": 1319.5166004556093,
    "filename": "scan-0472_light-47_camera-472.png"
  },
  {
    "id": 473,
    "scan_id": "0473",
    "camera_id": 473,
    "light_id": 47,
    "position": [
      525.810791,
      -136.381149,
      304.207397
    ],
    "rotation_matrix": [
      [
        0.680394876217168,
        -0.7328456762938051,
        0.00016478743908032722
      ],
      [
        -6.259381464274183e-05,
        0.00016674578243913718,
        0.9999999841389291
      ],
      [
        -0.7328456921476983,
        -0.6803948757400511,
        6.758136957873973e-05
      ]
    ],
    "position_light": [
      336.645966,
      219.276733,
      115.236191
    ],
    "rotation_matrix_light": [
      [
        0.22732148212177283,
        0.47383468697135617,
        0.8507676728629957
      ],
      [
        0.3679965605940591,
        0.767062034375109,
        -0.5255419743571982
      ],
      [
        -0.9016115988367183,
        0.4325465580062752,
        1.4343787035908662e-07
      ]
    ],
    "servo_angle": [
      [
        48.802883,
        -4.965367,
        -58.097978,
        117.925257,
        48.036552,
        10.026074,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.643927,
        -17.226893,
        -15.572305,
        -226.362447,
        66.423112,
        49.102197,
        0.0
      ]
    ],
    "turn_angle": 1319.5166004556093,
    "filename": "scan-0473_light-47_camera-473.png"
  },
  {
    "id": 474,
    "scan_id": "0474",
    "camera_id": 474,
    "light_id": 47,
    "position": [
      557.834351,
      -136.381149,
      269.453949
    ],
    "rotation_matrix": [
      [
        0.611016733322409,
        -0.7916176618268069,
        0.00017053993945381762
      ],
      [
        -6.292976178573495e-05,
        0.0001668593383353234,
        0.9999999840989028
      ],
      [
        -0.7916176776953991,
        -0.6110167343386105,
        5.213753694982559e-05
      ]
    ],
    "position_light": [
      336.645966,
      219.276733,
      115.236191
    ],
    "rotation_matrix_light": [
      [
        0.22732148212177283,
        0.47383468697135617,
        0.8507676728629957
      ],
      [
        0.3679965605940591,
        0.767062034375109,
        -0.5255419743571982
      ],
      [
        -0.9016115988367183,
        0.4325465580062752,
        1.4343787035908662e-07
      ]
    ],
    "servo_angle": [
      [
        45.037118,
        1.347998,
        -59.902852,
        118.211678,
        53.046037,
        12.040823,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.643927,
        -17.226893,
        -15.572305,
        -226.362447,
        66.423112,
        49.102197,
        0.0
      ]
    ],
    "turn_angle": 1319.5166004556093,
    "filename": "scan-0474_light-47_camera-474.png"
  },
  {
    "id": 475,
    "scan_id": "0475",
    "camera_id": 475,
    "light_id": 47,
    "position": [
      582.214844,
      -136.381149,
      238.094437
    ],
    "rotation_matrix": [
      [
        0.5487768000580128,
        -0.8359688948891516,
        0.00017463074883461438
      ],
      [
        -6.310919202523468e-05,
        0.00016746781661391985,
        0.99999998398588
      ],
      [
        -0.8359689107468756,
        -0.5487768022906407,
        3.9145130999451716e-05
      ]
    ],
    "position_light": [
      336.645966,
      219.276733,
      115.236191
    ],
    "rotation_matrix_light": [
      [
        0.22732148212177283,
        0.47383468697135617,
        0.8507676728629957
      ],
      [
        0.3679965605940591,
        0.767062034375109,
        -0.5255419743571982
      ],
      [
        -0.9016115988367183,
        0.4325465580062752,
        1.4343787035908662e-07
      ]
    ],
    "servo_angle": [
      [
        42.434515,
        6.951353,
        -61.789316,
        118.442752,
        56.708956,
        13.650376,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.643927,
        -17.226893,
        -15.572305,
        -226.362447,
        66.423112,
        49.102197,
        0.0
      ]
    ],
    "turn_angle": 1319.5166004556093,
    "filename": "scan-0475_light-47_camera-475.png"
  },
  {
    "id": 476,
    "scan_id": "0476",
    "camera_id": 476,
    "light_id": 47,
    "position": [
      602.62915,
      -136.381149,
      207.41713
    ],
    "rotation_matrix": [
      [
        0.48816530750879417,
        -0.8727511681013949,
        0.00017641568829807053
      ],
      [
        -6.297199965626943e-05,
        0.0001669146318428738,
        0.9999999840870164
      ],
      [
        -0.8727511836596795,
        -0.4881653108498763,
        2.652304632361213e-05
      ]
    ],
    "position_light": [
      336.645966,
      219.276733,
      115.236191
    ],
    "rotation_matrix_light": [
      [
        0.22732148212177283,
        0.47383468697135617,
        0.8507676728629957
      ],
      [
        0.3679965605940591,
        0.767062034375109,
        -0.5255419743571982
      ],
      [
        -0.9016115988367183,
        0.4325465580062752,
        1.4343787035908662e-07
      ]
    ],
    "servo_angle": [
      [
        40.414036,
        12.325697,
        -63.811914,
        118.644204,
        59.713719,
        15.133878,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.643927,
        -17.226893,
        -15.572305,
        -226.362447,
        66.423112,
        49.102197,
        0.0
      ]
    ],
    "turn_angle": 1319.5166004556093,
    "filename": "scan-0476_light-47_camera-476.png"
  },
  {
    "id": 477,
    "scan_id": "0477",
    "camera_id": 477,
    "light_id": 47,
    "position": [
      611.42981,
      -136.381149,
      192.570923
    ],
    "rotation_matrix": [
      [
        0.45892005757735965,
        -0.8884775457630406,
        0.0001772796575549851
      ],
      [
        -6.287587855757781e-05,
        0.0001670550410989846,
        0.9999999840696185
      ],
      [
        -0.8884775612247148,
        -0.45892006141320235,
        2.080110281127423e-05
      ]
    ],
    "position_light": [
      336.645966,
      219.276733,
      115.236191
    ],
    "rotation_matrix_light": [
      [
        0.22732148212177283,
        0.47383468697135617,
        0.8507676728629957
      ],
      [
        0.3679965605940591,
        0.767062034375109,
        -0.5255419743571982
      ],
      [
        -0.9016115988367183,
        0.4325465580062752,
        1.4343787035908662e-07
      ]
    ],
    "servo_angle": [
      [
        39.583935,
        14.887392,
        -64.842951,
        118.735304,
        61.003218,
        15.836382,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.643927,
        -17.226893,
        -15.572305,
        -226.362447,
        66.423112,
        49.102197,
        0.0
      ]
    ],
    "turn_angle": 1319.5166004556093,
    "filename": "scan-0477_light-47_camera-477.png"
  },
  {
    "id": 478,
    "scan_id": "0478",
    "camera_id": 478,
    "light_id": 47,
    "position": [
      623.116272,
      -136.381149,
      170.912964
    ],
    "rotation_matrix": [
      [
        0.4163474686201116,
        -0.9092055619103456,
        0.0001776651858441669
      ],
      [
        -6.28709192280752e-05,
        0.00016661692504194026,
        0.999999984143024
      ],
      [
        -0.9092055770951216,
        -0.41634747318807325,
        1.2207945525921637e-05
      ]
    ],
    "position_light": [
      336.645966,
      219.276733,
      115.236191
    ],
    "rotation_matrix_light": [
      [
        0.22732148212177283,
        0.47383468697135617,
        0.8507676728629957
      ],
      [
        0.3679965605940591,
        0.767062034375109,
        -0.5255419743571982
      ],
      [
        -0.9016115988367183,
        0.4325465580062752,
        1.4343787035908662e-07
      ]
    ],
    "servo_angle": [
      [
        38.516629,
        18.579646,
        -66.400423,
        118.863647,
        62.722893,
        16.854585,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.643927,
        -17.226893,
        -15.572305,
        -226.362447,
        66.423112,
        49.102197,
        0.0
      ]
    ],
    "turn_angle": 1319.5166004556093,
    "filename": "scan-0478_light-47_camera-478.png"
  },
  {
    "id": 479,
    "scan_id": "0479",
    "camera_id": 479,
    "light_id": 47,
    "position": [
      637.644165,
      -136.381149,
      139.909027
    ],
    "rotation_matrix": [
      [
        0.3555816514519013,
        -0.9346452038346997,
        0.00017916341912843636
      ],
      [
        -6.293576238380894e-05,
        0.00016774773281436062,
        0.9999999839498936
      ],
      [
        -0.9346452188878023,
        -0.3555816570205644,
        8.254073997626676e-07
      ]
    ],
    "position_light": [
      336.645966,
      219.276733,
      115.236191
    ],
    "rotation_matrix_light": [
      [
        0.22732148212177283,
        0.47383468697135617,
        0.8507676728629957
      ],
      [
        0.3679965605940591,
        0.767062034375109,
        -0.5255419743571982
      ],
      [
        -0.9016115988367183,
        0.4325465580062752,
        1.4343787035908662e-07
      ]
    ],
    "servo_angle": [
      [
        37.240366,
        23.777806,
        -68.729381,
        119.04367,
        64.900992,
        18.315341,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -73.643927,
        -17.226893,
        -15.572305,
        -226.362447,
        66.423112,
        49.102197,
        0.0
      ]
    ],
    "turn_angle": 1319.5166004556093,
    "filename": "scan-0479_light-47_camera-479.png"
  },
  {
    "id": 480,
    "scan_id": "0480",
    "camera_id": 480,
    "light_id": 48,
    "position": [
      647.831726,
      -136.381149,
      114.309372
    ],
    "rotation_matrix": [
      [
        0.3055522158326862,
        -0.9521753050080475,
        0.00017869686007965235
      ],
      [
        -6.294412756302492e-05,
        0.00016747350905904623,
        0.9999999839953304
      ],
      [
        -0.9521753196957863,
        -0.3055522221903418,
        -8.761942074497764e-06
      ]
    ],
    "position_light": [
      301.495361,
      202.776459,
      292.104767
    ],
    "rotation_matrix_light": [
      [
        0.3383412694377266,
        0.33103831344086365,
        0.8808738958724435
      ],
      [
        0.6296296394868565,
        0.6160400453778989,
        -0.47335101095323284
      ],
      [
        -0.6993509151169527,
        0.7147784954270973,
        2.3702952500759267e-07
      ]
    ],
    "servo_angle": [
      [
        36.374054,
        27.999072,
        -70.732671,
        119.194817,
        66.488257,
        19.537116,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.12868,
        -40.069517,
        -26.210585,
        -251.428262,
        54.957138,
        106.161115,
        0.0
      ]
    ],
    "turn_angle": 1345.635717898189,
    "filename": "scan-0480_light-48_camera-480.png"
  },
  {
    "id": 481,
    "scan_id": "0481",
    "camera_id": 481,
    "light_id": 48,
    "position": [
      635.475525,
      -136.381149,
      144.891968
    ],
    "rotation_matrix": [
      [
        0.36533376591015243,
        -0.9308765801690422,
        0.0001788258786675767
      ],
      [
        -6.283821128094669e-05,
        0.0001674432022008565,
        0.9999999840070665
      ],
      [
        -0.9308765952247727,
        -0.36533377130449207,
        2.6780364148493163e-06
      ]
    ],
    "position_light": [
      301.495361,
      202.776459,
      292.104767
    ],
    "rotation_matrix_light": [
      [
        0.3383412694377266,
        0.33103831344086365,
        0.8808738958724435
      ],
      [
        0.6296296394868565,
        0.6160400453778989,
        -0.47335101095323284
      ],
      [
        -0.6993509151169527,
        0.7147784954270973,
        2.3702952500759267e-07
      ]
    ],
    "servo_angle": [
      [
        37.427609,
        22.948965,
        -68.347677,
        119.014679,
        64.571083,
        18.079569,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.12868,
        -40.069517,
        -26.210585,
        -251.428262,
        54.957138,
        106.161115,
        0.0
      ]
    ],
    "turn_angle": 1345.635717898189,
    "filename": "scan-0481_light-48_camera-481.png"
  },
  {
    "id": 482,
    "scan_id": "0482",
    "camera_id": 482,
    "light_id": 48,
    "position": [
      618.432922,
      -136.381149,
      179.889496
    ],
    "rotation_matrix": [
      [
        0.43397957969483986,
        -0.9009226897032636,
        0.00017772373778657258
      ],
      [
        -6.292788760386969e-05,
        0.00016695585366360843,
        0.9999999840829118
      ],
      [
        -0.9009227050352161,
        -0.43397958397092806,
        1.57622694430537e-05
      ]
    ],
    "position_light": [
      301.495361,
      202.776459,
      292.104767
    ],
    "rotation_matrix_light": [
      [
        0.3383412694377266,
        0.33103831344086365,
        0.8808738958724435
      ],
      [
        0.6296296394868565,
        0.6160400453778989,
        -0.47335101095323284
      ],
      [
        -0.6993509151169527,
        0.7147784954270973,
        2.3702952500759267e-07
      ]
    ],
    "servo_angle": [
      [
        38.939759,
        17.055636,
        -65.747537,
        118.810935,
        62.031849,
        16.432945,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.12868,
        -40.069517,
        -26.210585,
        -251.428262,
        54.957138,
        106.161115,
        0.0
      ]
    ],
    "turn_angle": 1345.635717898189,
    "filename": "scan-0482_light-48_camera-482.png"
  },
  {
    "id": 483,
    "scan_id": "0483",
    "camera_id": 483,
    "light_id": 48,
    "position": [
      600.253784,
      -136.381149,
      211.239532
    ],
    "rotation_matrix": [
      [
        0.4957040625048039,
        -0.8684914801869801,
        0.00017680175737255777
      ],
      [
        -6.295818841978162e-05,
        0.00016763909386752207,
        0.9999999839667001
      ],
      [
        -0.8684914959010823,
        -0.4957040656881505,
        2.8420729614175855e-05
      ]
    ],
    "position_light": [
      301.495361,
      202.776459,
      292.104767
    ],
    "rotation_matrix_light": [
      [
        0.3383412694377266,
        0.33103831344086365,
        0.8808738958724435
      ],
      [
        0.6296296394868565,
        0.6160400453778989,
        -0.47335101095323284
      ],
      [
        -0.6993509151169527,
        0.7147784954270973,
        2.3702952500759267e-07
      ]
    ],
    "servo_angle": [
      [
        40.642188,
        11.66204,
        -63.551676,
        118.62014,
        59.36559,
        14.951849,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.12868,
        -40.069517,
        -26.210585,
        -251.428262,
        54.957138,
        106.161115,
        0.0
      ]
    ],
    "turn_angle": 1345.635717898189,
    "filename": "scan-0483_light-48_camera-483.png"
  },
  {
    "id": 484,
    "scan_id": "0484",
    "camera_id": 484,
    "light_id": 48,
    "position": [
      580.366089,
      -136.381149,
      240.653412
    ],
    "rotation_matrix": [
      [
        0.5538443272434073,
        -0.8326202200438197,
        0.00017422536678346479
      ],
      [
        -6.314097114951123e-05,
        0.00016724923555699878,
        0.9999999840204551
      ],
      [
        -0.8326202358779871,
        -0.553844329393986,
        4.005759105674134e-05
      ]
    ],
    "position_light": [
      301.495361,
      202.776459,
      292.104767
    ],
    "rotation_matrix_light": [
      [
        0.3383412694377266,
        0.33103831344086365,
        0.8808738958724435
      ],
      [
        0.6296296394868565,
        0.6160400453778989,
        -0.47335101095323284
      ],
      [
        -0.6993509151169527,
        0.7147784954270973,
        2.3702952500759267e-07
      ]
    ],
    "servo_angle": [
      [
        42.624393,
        6.498144,
        -61.627913,
        118.424933,
        56.434681,
        13.523523,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.12868,
        -40.069517,
        -26.210585,
        -251.428262,
        54.957138,
        106.161115,
        0.0
      ]
    ],
    "turn_angle": 1345.635717898189,
    "filename": "scan-0484_light-48_camera-484.png"
  },
  {
    "id": 485,
    "scan_id": "0485",
    "camera_id": 485,
    "light_id": 48,
    "position": [
      551.03949,
      -136.381149,
      277.373749
    ],
    "rotation_matrix": [
      [
        0.6267866020503094,
        -0.7791909436863977,
        0.0001696093387031361
      ],
      [
        -6.268327741143498e-05,
        0.00016725078570223317,
        0.9999999840489905
      ],
      [
        -0.7791909596248108,
        -0.6267866026840997,
        5.598830958097878e-05
      ]
    ],
    "position_light": [
      301.495361,
      202.776459,
      292.104767
    ],
    "rotation_matrix_light": [
      [
        0.3383412694377266,
        0.33103831344086365,
        0.8808738958724435
      ],
      [
        0.6296296394868565,
        0.6160400453778989,
        -0.47335101095323284
      ],
      [
        -0.6993509151169527,
        0.7147784954270973,
        2.3702952500759267e-07
      ]
    ],
    "servo_angle": [
      [
        45.80196,
        -0.082792,
        -59.461617,
        118.148825,
        52.004171,
        11.609271,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.12868,
        -40.069517,
        -26.210585,
        -251.428262,
        54.957138,
        106.161115,
        0.0
      ]
    ],
    "turn_angle": 1345.635717898189,
    "filename": "scan-0485_light-48_camera-485.png"
  },
  {
    "id": 486,
    "scan_id": "0486",
    "camera_id": 486,
    "light_id": 48,
    "position": [
      522.533508,
      -136.381149,
      307.425964
    ],
    "rotation_matrix": [
      [
        0.6868451081066833,
        -0.7268038045267015,
        0.00016491037179050538
      ],
      [
        -6.318721214404466e-05,
        0.00016718479023331012,
        0.9999999840283109
      ],
      [
        -0.7268038204889231,
        -0.6868451075568336,
        6.890534913789326e-05
      ]
    ],
    "position_light": [
      301.495361,
      202.776459,
      292.104767
    ],
    "rotation_matrix_light": [
      [
        0.3383412694377266,
        0.33103831344086365,
        0.8808738958724435
      ],
      [
        0.6296296394868565,
        0.6160400453778989,
        -0.47335101095323284
      ],
      [
        -0.6993509151169527,
        0.7147784954270973,
        2.3702952500759267e-07
      ]
    ],
    "servo_angle": [
      [
        49.211975,
        -5.553393,
        -57.950097,
        117.897927,
        47.508629,
        9.819694,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.12868,
        -40.069517,
        -26.210585,
        -251.428262,
        54.957138,
        106.161115,
        0.0
      ]
    ],
    "turn_angle": 1345.635717898189,
    "filename": "scan-0486_light-48_camera-486.png"
  },
  {
    "id": 487,
    "scan_id": "0487",
    "camera_id": 487,
    "light_id": 48,
    "position": [
      504.491852,
      -136.381149,
      324.174805
    ],
    "rotation_matrix": [
      [
        0.7204904623493706,
        -0.6934648281109901,
        0.0001607376293494278
      ],
      [
        -6.268603018222407e-05,
        0.00016666013220495435,
        0.9999999841474311
      ],
      [
        -0.6934648439063456,
        -0.7204904610037496,
        7.660647856227998e-05
      ]
    ],
    "position_light": [
      301.495361,
      202.776459,
      292.104767
    ],
    "rotation_matrix_light": [
      [
        0.3383412694377266,
        0.33103831344086365,
        0.8808738958724435
      ],
      [
        0.6296296394868565,
        0.6160400453778989,
        -0.47335101095323284
      ],
      [
        -0.6993509151169527,
        0.7147784954270973,
        2.3702952500759267e-07
      ]
    ],
    "servo_angle": [
      [
        51.54695,
        -8.614019,
        -57.246792,
        117.758469,
        44.545807,
        8.666159,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.12868,
        -40.069517,
        -26.210585,
        -251.428262,
        54.957138,
        106.161115,
        0.0
      ]
    ],
    "turn_angle": 1345.635717898189,
    "filename": "scan-0487_light-48_camera-487.png"
  },
  {
    "id": 488,
    "scan_id": "0488",
    "camera_id": 488,
    "light_id": 48,
    "position": [
      481.435974,
      -136.381149,
      343.424469
    ],
    "rotation_matrix": [
      [
        0.7593452754621999,
        -0.6506878883641146,
        0.00015674656281206012
      ],
      [
        -6.303162587339983e-05,
        0.0001673364372406505,
        0.9999999840127651
      ],
      [
        -0.650687904190826,
        -0.7593452732023596,
        8.605221749169445e-05
      ]
    ],
    "position_light": [
      301.495361,
      202.776459,
      292.104767
    ],
    "rotation_matrix_light": [
      [
        0.3383412694377266,
        0.33103831344086365,
        0.8808738958724435
      ],
      [
        0.6296296394868565,
        0.6160400453778989,
        -0.47335101095323284
      ],
      [
        -0.6993509151169527,
        0.7147784954270973,
        2.3702952500759267e-07
      ]
    ],
    "servo_angle": [
      [
        54.74056,
        -12.11164,
        -56.604048,
        117.622792,
        40.613025,
        7.114532,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.12868,
        -40.069517,
        -26.210585,
        -251.428262,
        54.957138,
        106.161115,
        0.0
      ]
    ],
    "turn_angle": 1345.635717898189,
    "filename": "scan-0488_light-48_camera-488.png"
  },
  {
    "id": 489,
    "scan_id": "0489",
    "camera_id": 489,
    "light_id": 48,
    "position": [
      463.559906,
      -136.381149,
      356.880371
    ],
    "rotation_matrix": [
      [
        0.7866464344567878,
        -0.6174037284616658,
        0.0001524403364897564
      ],
      [
        -6.293635052856406e-05,
        0.0001667169691133008,
        0.9999999841222339
      ],
      [
        -0.6174037440730646,
        -0.7866464315606382,
        9.229017184431143e-05
      ]
    ],
    "position_light": [
      301.495361,
      202.776459,
      292.104767
    ],
    "rotation_matrix_light": [
      [
        0.3383412694377266,
        0.33103831344086365,
        0.8808738958724435
      ],
      [
        0.6296296394868565,
        0.6160400453778989,
        -0.47335101095323284
      ],
      [
        -0.6993509151169527,
        0.7147784954270973,
        2.3702952500759267e-07
      ]
    ],
    "servo_angle": [
      [
        57.382583,
        -14.518751,
        -56.291957,
        117.570997,
        37.445714,
        5.814949,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.12868,
        -40.069517,
        -26.210585,
        -251.428262,
        54.957138,
        106.161115,
        0.0
      ]
    ],
    "turn_angle": 1345.635717898189,
    "filename": "scan-0489_light-48_camera-489.png"
  },
  {
    "id": 490,
    "scan_id": "0490",
    "camera_id": 490,
    "light_id": 49,
    "position": [
      410.827271,
      -136.381149,
      390.211304
    ],
    "rotation_matrix": [
      [
        0.8549520125444623,
        -0.5187070815848958,
        0.0001405697468701006
      ],
      [
        -6.326812499296564e-05,
        0.000166719400819193,
        0.9999999841008926
      ],
      [
        -0.5187070967736203,
        -0.8549520078450727,
        0.00010971946278809375
      ]
    ],
    "position_light": [
      371.716064,
      210.361755,
      196.82019
    ],
    "rotation_matrix_light": [
      [
        0.33407937658752007,
        0.49578415732560555,
        0.8016165164739516
      ],
      [
        0.44795268166729074,
        0.6647762288702497,
        -0.5978385739613433
      ],
      [
        -0.8292944984298262,
        0.5588118063122761,
        1.8530901263469346e-07
      ]
    ],
    "servo_angle": [
      [
        66.002905,
        -20.118267,
        -56.288634,
        117.971036,
        27.513892,
        1.121221,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -62.692412,
        -26.729054,
        -23.806626,
        -217.29963,
        46.210078,
        62.302342,
        0.0
      ]
    ],
    "turn_angle": 1378.0227272320435,
    "filename": "scan-0490_light-49_camera-490.png"
  },
  {
    "id": 491,
    "scan_id": "0491",
    "camera_id": 491,
    "light_id": 49,
    "position": [
      389.719086,
      -136.381149,
      401.219666
    ],
    "rotation_matrix": [
      [
        0.8778077905090065,
        -0.47901301088084114,
        0.00013538303812549168
      ],
      [
        -6.319762420339825e-05,
        0.00016681732497636492,
        0.9999999840890199
      ],
      [
        -0.47901302584351096,
        -0.8778077850981107,
        0.0001161610632059995
      ]
    ],
    "position_light": [
      371.716064,
      210.361755,
      196.82019
    ],
    "rotation_matrix_light": [
      [
        0.33407937658752007,
        0.49578415732560555,
        0.8016165164739516
      ],
      [
        0.44795268166729074,
        0.6647762288702497,
        -0.5978385739613433
      ],
      [
        -0.8292944984298262,
        0.5588118063122761,
        1.8530901263469346e-07
      ]
    ],
    "servo_angle": [
      [
        69.761221,
        -21.733206,
        -56.685293,
        118.555739,
        23.326143,
        -1.33207,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -62.692412,
        -26.729054,
        -23.806626,
        -217.29963,
        46.210078,
        62.302342,
        0.0
      ]
    ],
    "turn_angle": 1378.0227272320435,
    "filename": "scan-0491_light-49_camera-491.png"
  },
  {
    "id": 492,
    "scan_id": "0492",
    "camera_id": 492,
    "light_id": 49,
    "position": [
      368.467255,
      -136.381149,
      411.101929
    ],
    "rotation_matrix": [
      [
        0.8985104931728293,
        -0.4389520210663298,
        0.000129846462601807
      ],
      [
        -6.290036761233408e-05,
        0.00016705657267690466,
        0.9999999840678228
      ],
      [
        -0.4389520357645733,
        -0.8985104870249908,
        0.00012249184001444924
      ]
    ],
    "position_light": [
      371.716064,
      210.361755,
      196.82019
    ],
    "rotation_matrix_light": [
      [
        0.33407937658752007,
        0.49578415732560555,
        0.8016165164739516
      ],
      [
        0.44795268166729074,
        0.6647762288702497,
        -0.5978385739613433
      ],
      [
        -0.8292944984298262,
        0.5588118063122761,
        1.8530901263469346e-07
      ]
    ],
    "servo_angle": [
      [
        73.671773,
        -22.992338,
        -57.342934,
        119.584944,
        19.031481,
        -4.334368,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -62.692412,
        -26.729054,
        -23.806626,
        -217.29963,
        46.210078,
        62.302342,
        0.0
      ]
    ],
    "turn_angle": 1378.0227272320435,
    "filename": "scan-0492_light-49_camera-492.png"
  },
  {
    "id": 493,
    "scan_id": "0493",
    "camera_id": 493,
    "light_id": 49,
    "position": [
      320.308167,
      -136.381149,
      429.401581
    ],
    "rotation_matrix": [
      [
        0.9375532988013243,
        -0.34784162811679276,
        0.00011685809257008795
      ],
      [
        -6.281906189373188e-05,
        0.00016663293673291335,
        0.9999999841436149
      ],
      [
        -0.34784164207368906,
        -0.9375532912760338,
        0.00013437617475697827
      ]
    ],
    "position_light": [
      371.716064,
      210.361755,
      196.82019
    ],
    "rotation_matrix_light": [
      [
        0.33407937658752007,
        0.49578415732560555,
        0.8016165164739516
      ],
      [
        0.44795268166729074,
        0.6647762288702497,
        -0.5978385739613433
      ],
      [
        -0.8292944984298262,
        0.5588118063122761,
        1.8530901263469346e-07
      ]
    ],
    "servo_angle": [
      [
        82.594674,
        -24.453552,
        -60.041049,
        124.996702,
        9.328612,
        -14.559316,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -62.692412,
        -26.729054,
        -23.806626,
        -217.29963,
        46.210078,
        62.302342,
        0.0
      ]
    ],
    "turn_angle": 1378.0227272320435,
    "filename": "scan-0493_light-49_camera-493.png"
  },
  {
    "id": 494,
    "scan_id": "0494",
    "camera_id": 494,
    "light_id": 49,
    "position": [
      300.876617,
      -136.381149,
      435.285339
    ],
    "rotation_matrix": [
      [
        0.9504232910770658,
        -0.3109590895015738,
        0.0001115105007215289
      ],
      [
        -6.273587553257132e-05,
        0.0001668543014476387,
        0.9999999841119261
      ],
      [
        -0.31095910316703945,
        -0.950423282972379,
        0.00013907392357753734
      ]
    ],
    "position_light": [
      371.716064,
      210.361755,
      196.82019
    ],
    "rotation_matrix_light": [
      [
        0.33407937658752007,
        0.49578415732560555,
        0.8016165164739516
      ],
      [
        0.44795268166729074,
        0.6647762288702497,
        -0.5978385739613433
      ],
      [
        -0.8292944984298262,
        0.5588118063122761,
        1.8530901263469346e-07
      ]
    ],
    "servo_angle": [
      [
        85.917714,
        -24.488388,
        -61.767601,
        129.420452,
        5.634123,
        -21.061069,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -62.692412,
        -26.729054,
        -23.806626,
        -217.29963,
        46.210078,
        62.302342,
        0.0
      ]
    ],
    "turn_angle": 1378.0227272320435,
    "filename": "scan-0494_light-49_camera-494.png"
  },
  {
    "id": 495,
    "scan_id": "0495",
    "camera_id": 495,
    "light_id": 49,
    "position": [
      271.055939,
      -136.381149,
      442.738342
    ],
    "rotation_matrix": [
      [
        0.9671433949779101,
        -0.2542314750332525,
        0.00010321346180583446
      ],
      [
        -6.286051151721539e-05,
        0.00016684925279575324,
        0.9999999841049413
      ],
      [
        -0.2542314882133173,
        -0.9671433860931601,
        0.00014538603223401836
      ]
    ],
    "position_light": [
      371.716064,
      210.361755,
      196.82019
    ],
    "rotation_matrix_light": [
      [
        0.33407937658752007,
        0.49578415732560555,
        0.8016165164739516
      ],
      [
        0.44795268166729074,
        0.6647762288702497,
        -0.5978385739613433
      ],
      [
        -0.8292944984298262,
        0.5588118063122761,
        1.8530901263469346e-07
      ]
    ],
    "servo_angle": [
      [
        89.935122,
        -23.960637,
        -65.335523,
        141.03379,
        0.665834,
        -36.015268,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -62.692412,
        -26.729054,
        -23.806626,
        -217.29963,
        46.210078,
        62.302342,
        0.0
      ]
    ],
    "turn_angle": 1378.0227272320435,
    "filename": "scan-0495_light-49_camera-495.png"
  },
  {
    "id": 496,
    "scan_id": "0496",
    "camera_id": 496,
    "light_id": 49,
    "position": [
      220.774582,
      -136.381149,
      451.176361
    ],
    "rotation_matrix": [
      [
        0.9873990848740815,
        -0.1582499267455943,
        8.874029973796049e-05
      ],
      [
        -6.319474976949901e-05,
        0.00016645732975573146,
        0.9999999841491904
      ],
      [
        -0.15824993900867815,
        -0.9873990748309276,
        0.0001543592505496294
      ]
    ],
    "position_light": [
      371.716064,
      210.361755,
      196.82019
    ],
    "rotation_matrix_light": [
      [
        0.33407937658752007,
        0.49578415732560555,
        0.8016165164739516
      ],
      [
        0.44795268166729074,
        0.6647762288702497,
        -0.5978385739613433
      ],
      [
        -0.8292944984298262,
        0.5588118063122761,
        1.8530901263469346e-07
      ]
    ],
    "servo_angle": [
      [
        90.532546,
        -22.61029,
        -71.138841,
        180.019787,
        -3.82054,
        -80.716804,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -62.692412,
        -26.729054,
        -23.806626,
        -217.29963,
        46.210078,
        62.302342,
        0.0
      ]
    ],
    "turn_angle": 1378.0227272320435,
    "filename": "scan-0496_light-49_camera-496.png"
  },
  {
    "id": 497,
    "scan_id": "0497",
    "camera_id": 497,
    "light_id": 49,
    "position": [
      207.470993,
      -136.381149,
      452.569458
    ],
    "rotation_matrix": [
      [
        0.991144510040328,
        -0.13278762425775065,
        8.402916643206193e-05
      ],
      [
        -6.244843366105812e-05,
        0.00016668528442181918,
        0.9999999841581044
      ],
      [
        -0.1327876361605685,
        -0.99114449958621,
        0.000156916825414688
      ]
    ],
    "position_light": [
      371.716064,
      210.361755,
      196.82019
    ],
    "rotation_matrix_light": [
      [
        0.33407937658752007,
        0.49578415732560555,
        0.8016165164739516
      ],
      [
        0.44795268166729074,
        0.6647762288702497,
        -0.5978385739613433
      ],
      [
        -0.8292944984298262,
        0.5588118063122761,
        1.8530901263469346e-07
      ]
    ],
    "servo_angle": [
      [
        89.671963,
        -22.596481,
        -71.187256,
        193.171575,
        -3.892561,
        -95.315311,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -62.692412,
        -26.729054,
        -23.806626,
        -217.29963,
        46.210078,
        62.302342,
        0.0
      ]
    ],
    "turn_angle": 1378.0227272320435,
    "filename": "scan-0497_light-49_camera-497.png"
  },
  {
    "id": 498,
    "scan_id": "0498",
    "camera_id": 498,
    "light_id": 49,
    "position": [
      149.066864,
      -136.381149,
      454.626892
    ],
    "rotation_matrix": [
      [
        0.9997861743351084,
        -0.020678520161050113,
        6.642527080644688e-05
      ],
      [
        -6.299291369797622e-05,
        0.00016663791844112597,
        0.9999999841318481
      ],
      [
        -0.020678530901889078,
        -0.9997861626546711,
        0.00016529968674156015
      ]
    ],
    "position_light": [
      371.716064,
      210.361755,
      196.82019
    ],
    "rotation_matrix_light": [
      [
        0.33407937658752007,
        0.49578415732560555,
        0.8016165164739516
      ],
      [
        0.44795268166729074,
        0.6647762288702497,
        -0.5978385739613433
      ],
      [
        -0.8292944984298262,
        0.5588118063122761,
        1.8530901263469346e-07
      ]
    ],
    "servo_angle": [
      [
        91.841582,
        -23.933994,
        -65.356952,
        236.750974,
        1.60772,
        -145.250932,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -62.692412,
        -26.729054,
        -23.806626,
        -217.29963,
        46.210078,
        62.302342,
        0.0
      ]
    ],
    "turn_angle": 1378.0227272320435,
    "filename": "scan-0498_light-49_camera-498.png"
  },
  {
    "id": 499,
    "scan_id": "0499",
    "camera_id": 499,
    "light_id": 49,
    "position": [
      125.186005,
      -136.381149,
      453.574615
    ],
    "rotation_matrix": [
      [
        0.9996795651818058,
        0.025313306912830163,
        5.874566230150598e-05
      ],
      [
        -6.298619664050001e-05,
        0.0001667246526132482,
        0.9999999841178147
      ],
      [
        0.025313296716449385,
        -0.9996795530048754,
        0.00016826561715632682
      ]
    ],
    "position_light": [
      371.716064,
      210.361755,
      196.82019
    ],
    "rotation_matrix_light": [
      [
        0.33407937658752007,
        0.49578415732560555,
        0.8016165164739516
      ],
      [
        0.44795268166729074,
        0.6647762288702497,
        -0.5978385739613433
      ],
      [
        -0.8292944984298262,
        0.5588118063122761,
        1.8530901263469346e-07
      ]
    ],
    "servo_angle": [
      [
        95.646308,
        -24.081817,
        -63.616421,
        244.637623,
        5.73949,
        -155.608175,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -62.692412,
        -26.729054,
        -23.806626,
        -217.29963,
        46.210078,
        62.302342,
        0.0
      ]
    ],
    "turn_angle": 1378.0227272320435,
    "filename": "scan-0499_light-49_camera-499.png"
  },
  {
    "id": 500,
    "scan_id": "0500",
    "camera_id": 500,
    "light_id": 50,
    "position": [
      454.574615,
      -136.381149,
      363.202545
    ],
    "rotation_matrix": [
      [
        0.7995210128398655,
        -0.6006381001294192,
        0.00015066664265589447
      ],
      [
        -6.315704476650419e-05,
        0.0001667747281414167,
        0.9999999840986886
      ],
      [
        -0.6006381157058742,
        -0.7995210096420928,
        9.540537218133416e-05
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        58.765474,
        -15.630575,
        -56.194669,
        117.570367,
        35.814331,
        5.118518,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1427.0432688595565,
    "filename": "scan-0500_light-50_camera-500.png"
  },
  {
    "id": 501,
    "scan_id": "0501",
    "camera_id": 501,
    "light_id": 50,
    "position": [
      448.182922,
      -136.381149,
      367.53006
    ],
    "rotation_matrix": [
      [
        0.808353174478535,
        -0.5886978197526918,
        0.0001494285855630495
      ],
      [
        -6.305054883221084e-05,
        0.00016725299223324663,
        0.9999999840255324
      ],
      [
        -0.5886978353409356,
        -0.8083531709870778,
        9.80817665810485e-05
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        59.771358,
        -16.381895,
        -56.149463,
        117.582972,
        34.637992,
        4.602112,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1427.0432688595565,
    "filename": "scan-0501_light-50_camera-501.png"
  },
  {
    "id": 502,
    "scan_id": "0502",
    "camera_id": 502,
    "light_id": 50,
    "position": [
      290.630768,
      -136.381149,
      438.057892
    ],
    "rotation_matrix": [
      [
        0.9565750704103351,
        -0.2914860593564247,
        0.00010895102459862471
      ],
      [
        -6.314194435072529e-05,
        0.00016656375647655652,
        0.9999999841348051
      ],
      [
        -0.29148607287923334,
        -0.9565750621134645,
        0.00014092574054053175
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        87.494723,
        -24.381188,
        -62.866763,
        132.622369,
        3.804898,
        -25.391026,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1427.0432688595565,
    "filename": "scan-0502_light-50_camera-502.png"
  },
  {
    "id": 503,
    "scan_id": "0503",
    "camera_id": 503,
    "light_id": 51,
    "position": [
      276.312225,
      -136.381149,
      441.560059
    ],
    "rotation_matrix": [
      [
        0.9644566479469504,
        -0.26424110830834957,
        0.00010445528500097057
      ],
      [
        -6.26858835420796e-05,
        0.00016650500187054273,
        0.9999999841732817
      ],
      [
        -0.2642411215186075,
        -0.964456639230639,
        0.00014402266862811874
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        89.372134,
        -24.098146,
        -64.629353,
        138.436573,
        1.453307,
        -32.817304,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1452.2150491543691,
    "filename": "scan-0503_light-51_camera-503.png"
  },
  {
    "id": 504,
    "scan_id": "0504",
    "camera_id": 504,
    "light_id": 51,
    "position": [
      184.281357,
      -136.384125,
      454.152893
    ],
    "rotation_matrix": [
      [
        0.9924856566811602,
        -0.09436770683305991,
        -0.07789067459738519
      ],
      [
        0.07826228424581454,
        0.00023766795798835227,
        0.9969327752554679
      ],
      [
        -0.0940597477499989,
        -0.9955373822318333,
        0.007621314335150842
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        94.561986,
        -22.29396,
        -71.770756,
        187.144402,
        -3.695062,
        -91.537055,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1452.2150491543691,
    "filename": "scan-0504_light-51_camera-504.png"
  },
  {
    "id": 505,
    "scan_id": "0505",
    "camera_id": 505,
    "light_id": 51,
    "position": [
      88.854752,
      -136.382202,
      449.849121
    ],
    "rotation_matrix": [
      [
        0.9955144018791904,
        0.09458891871792842,
        -0.002003024435916566
      ],
      [
        0.0015549946283431731,
        0.004810069732649247,
        0.9999872225288046
      ],
      [
        0.09459734479795706,
        -0.9955047964148341,
        0.004641408432388305
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        102.399647,
        -23.393695,
        -62.545563,
        249.829137,
        12.643975,
        -164.377638,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1452.2150491543691,
    "filename": "scan-0505_light-51_camera-505.png"
  },
  {
    "id": 506,
    "scan_id": "0506",
    "camera_id": 506,
    "light_id": 52,
    "position": [
      -44.442997,
      -136.381149,
      412.843811
    ],
    "rotation_matrix": [
      [
        0.9349919326693578,
        0.35466898066079755,
        -5.003023675620444e-07
      ],
      [
        -6.264744219192098e-05,
        0.00016656420107952208,
        0.9999999841658326
      ],
      [
        0.3546689751282419,
        -0.9349919178331961,
        0.0001779552887440916
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        125.123211,
        -13.315711,
        -65.323319,
        254.591619,
        36.288912,
        -180.927753,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1493.1049235611931,
    "filename": "scan-0506_light-52_camera-506.png"
  },
  {
    "id": 507,
    "scan_id": "0507",
    "camera_id": 507,
    "light_id": 52,
    "position": [
      -112.78524,
      -136.381149,
      377.402374
    ],
    "rotation_matrix": [
      [
        0.8723448887149321,
        0.4888909841758323,
        -2.691689157804933e-05
      ],
      [
        -6.280432350777576e-05,
        0.00016712094187626425,
        0.9999999840631039
      ],
      [
        0.4888909808828037,
        -0.8723448731219648,
        0.00017649156697313595
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        133.832227,
        -4.351213,
        -69.458356,
        254.226702,
        45.731257,
        -185.959984,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1493.1049235611931,
    "filename": "scan-0507_light-52_camera-507.png"
  },
  {
    "id": 508,
    "scan_id": "0508",
    "camera_id": 508,
    "light_id": 52,
    "position": [
      -165.037216,
      -136.381149,
      340.564362
    ],
    "rotation_matrix": [
      [
        0.8057219202551094,
        0.5922940020649299,
        -4.835625980575964e-05
      ],
      [
        -6.284531425387874e-05,
        0.00016713339316187792,
        0.9999999840584475
      ],
      [
        0.5922940007047899,
        -0.8057219043716868,
        0.00017188594116757105
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        139.212759,
        4.073272,
        -73.78115,
        253.859379,
        51.777107,
        -189.721739,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1493.1049235611931,
    "filename": "scan-0508_light-52_camera-508.png"
  },
  {
    "id": 509,
    "scan_id": "0509",
    "camera_id": 509,
    "light_id": 53,
    "position": [
      -204.2005,
      -136.381149,
      305.795959
    ],
    "rotation_matrix": [
      [
        0.7420272041740341,
        0.6703697666790205,
        -6.471770858085257e-05
      ],
      [
        -6.307048309223129e-05,
        0.00016635255247854364,
        0.9999999841744711
      ],
      [
        0.6703697668360205,
        -0.7420271883492839,
        0.00016571866445780348
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        142.641052,
        11.394985,
        -77.825889,
        253.599313,
        55.754981,
        -192.752914,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1531.5350047914956,
    "filename": "scan-0509_light-53_camera-509.png"
  },
  {
    "id": 510,
    "scan_id": "0510",
    "camera_id": 510,
    "light_id": 53,
    "position": [
      -270.813324,
      -136.381149,
      225.743011
    ],
    "rotation_matrix": [
      [
        0.5934820555089048,
        0.804847215540339,
        -9.708701596033986e-05
      ],
      [
        -6.290544551867949e-05,
        0.00016701339698743656,
        0.9999999840747151
      ],
      [
        0.80484721893775,
        -0.5934820399502319,
        0.0001497487268096176
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        147.516636,
        26.679207,
        -87.069932,
        253.191998,
        61.680568,
        -199.011848,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1531.5350047914956,
    "filename": "scan-0510_light-53_camera-510.png"
  },
  {
    "id": 511,
    "scan_id": "0511",
    "camera_id": 511,
    "light_id": 53,
    "position": [
      -327.233002,
      -136.381149,
      115.929955
    ],
    "rotation_matrix": [
      [
        0.3869091468534913,
        0.9221178316894614,
        -0.00012869121906949887
      ],
      [
        -6.306475948453238e-05,
        0.00016602167756391006,
        0.9999999842298193
      ],
      [
        0.9221178385130284,
        -0.3869091326359833,
        0.00012238844489737
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        150.925162,
        45.63202,
        -100.020154,
        252.775056,
        66.204586,
        -207.249205,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1531.5350047914956,
    "filename": "scan-0511_light-53_camera-511.png"
  },
  {
    "id": 512,
    "scan_id": "0512",
    "camera_id": 512,
    "light_id": 54,
    "position": [
      -354.812439,
      -136.381149,
      6.412836
    ],
    "rotation_matrix": [
      [
        0.17859106978694753,
        0.9839233742331934,
        -0.0001530683539903155
      ],
      [
        -6.286370261193719e-05,
        0.0001669797178893706,
        0.9999999840829643
      ],
      [
        0.9839233841313605,
        -0.17859105732186364,
        9.167415284128122e-05
      ]
    ],
    "position_light": [
      558.659241,
      159.054077,
      74.810127
    ],
    "rotation_matrix_light": [
      [
        0.23842463379297424,
        0.8148110974858409,
        0.5284283957307798
      ],
      [
        0.14840228610349465,
        0.5071620361323103,
        -0.848977874025811
      ],
      [
        -0.9597554144051195,
        0.2808372206813917,
        9.312914900361235e-08
      ]
    ],
    "servo_angle": [
      [
        152.451751,
        63.862449,
        -114.21186,
        252.346541,
        68.575084,
        -215.961487,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -43.014348,
        18.888413,
        -52.050179,
        -161.881032,
        58.027619,
        6.979657,
        0.0
      ]
    ],
    "turn_angle": 1546.8495662905832,
    "filename": "scan-0512_light-54_camera-512.png"
  },
  {
    "id": 513,
    "scan_id": "0513",
    "camera_id": 513,
    "light_id": 55,
    "position": [
      -354.227478,
      -136.381149,
      10.509841
    ],
    "rotation_matrix": [
      [
        0.18642030221550265,
        0.9824700746789435,
        -0.0001525851631051789
      ],
      [
        -6.282469288909631e-05,
        0.00016722846134442637,
        0.9999999840438498
      ],
      [
        0.9824700845190855,
        -0.1864202896548362,
        9.289816101731851e-05
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        152.418519,
        63.171863,
        -113.637699,
        252.362985,
        68.515496,
        -215.615821,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1546.8495662905832,
    "filename": "scan-0513_light-55_camera-513.png"
  },
  {
    "id": 514,
    "scan_id": "0514",
    "camera_id": 514,
    "light_id": 55,
    "position": [
      -335.435028,
      -136.381149,
      92.085274
    ],
    "rotation_matrix": [
      [
        0.3417292706139411,
        0.9397984291357144,
        -0.00013490629290291434
      ],
      [
        -6.2875661036077e-05,
        0.00016641094484198815,
        0.9999999841770244
      ],
      [
        0.9397984367151903,
        -0.34172925672444476,
        0.00011595793827562373
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        151.38158,
        49.601071,
        -102.952208,
        252.685045,
        66.866982,
        -209.074935,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1546.8495662905832,
    "filename": "scan-0514_light-55_camera-514.png"
  },
  {
    "id": 515,
    "scan_id": "0515",
    "camera_id": 515,
    "light_id": 56,
    "position": [
      -302.164032,
      -136.381149,
      172.773087
    ],
    "rotation_matrix": [
      [
        0.4941704044795586,
        0.8693650546914373,
        -0.00011409585258248534
      ],
      [
        -6.2763402178867e-05,
        0.00016691683870484475,
        0.9999999840997621
      ],
      [
        0.8693650599128452,
        -0.4941703894610877,
        0.00013704967026512138
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        149.47661,
        36.010226,
        -93.235417,
        252.985733,
        64.215849,
        -202.975169,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1585.9157304853384,
    "filename": "scan-0515_light-56_camera-515.png"
  },
  {
    "id": 516,
    "scan_id": "0516",
    "camera_id": 516,
    "light_id": 56,
    "position": [
      -227.239777,
      -136.381149,
      281.665527
    ],
    "rotation_matrix": [
      [
        0.6974882132640156,
        0.716596250770329,
        -7.576067178072243e-05
      ],
      [
        -6.277856337894017e-05,
        0.00016682752449670435,
        0.9999999841137145
      ],
      [
        0.7165962520252415,
        -0.6974881974273724,
        0.00016134711513060562
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        144.451083,
        16.19872,
        -80.61648,
        253.455673,
        57.909417,
        -194.708248,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1585.9157304853384,
    "filename": "scan-0516_light-56_camera-516.png"
  },
  {
    "id": 517,
    "scan_id": "0517",
    "camera_id": 517,
    "light_id": 56,
    "position": [
      -133.336029,
      -136.381149,
      364.052002
    ],
    "rotation_matrix": [
      [
        0.8483295549073493,
        0.529468568499116,
        -3.5244784805987805e-05
      ],
      [
        -6.277805014504034e-05,
        0.00016715111122195259,
        0.9999999840597107
      ],
      [
        0.529468565950439,
        -0.8483295391721322,
        0.00017503823212866587
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        136.068595,
        -1.205732,
        -71.028489,
        254.082088,
        48.219612,
        -187.422115,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1585.9157304853384,
    "filename": "scan-0517_light-56_camera-517.png"
  },
  {
    "id": 518,
    "scan_id": "0518",
    "camera_id": 518,
    "light_id": 57,
    "position": [
      -54.647243,
      -136.381149,
      408.34787
    ],
    "rotation_matrix": [
      [
        0.9271679051123256,
        0.3746460672596751,
        -4.059629610225768e-06
      ],
      [
        -6.30455889522874e-05,
        0.00016686008914584827,
        0.9999999840914819
      ],
      [
        0.37464606197700157,
        -0.9271678901065166,
        0.00017832710125925688
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        126.555949,
        -12.124417,
        -65.838236,
        254.561138,
        37.819741,
        -181.719466,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1618.8862425746117,
    "filename": "scan-0518_light-57_camera-518.png"
  },
  {
    "id": 519,
    "scan_id": "0519",
    "camera_id": 519,
    "light_id": 57,
    "position": [
      -19.115694,
      -136.381149,
      422.902863
    ],
    "rotation_matrix": [
      [
        0.9522966510795291,
        0.3051738656316182,
        8.841295637829205e-06
      ],
      [
        -6.285953293980184e-05,
        0.00016718216386135687,
        0.9999999840494015
      ],
      [
        0.3051738592858055,
        -0.9522966364455873,
        0.00017839010142439715
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        121.35756,
        -16.039209,
        -64.201697,
        254.59202,
        32.298949,
        -178.847171,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1618.8862425746117,
    "filename": "scan-0519_light-57_camera-519.png"
  },
  {
    "id": 520,
    "scan_id": "0520",
    "camera_id": 520,
    "light_id": 57,
    "position": [
      82.933449,
      -136.381149,
      448.99646
    ],
    "rotation_matrix": [
      [
        0.9942692039183373,
        0.10690532335400654,
        4.447663155358189e-05
      ],
      [
        -6.264530932990897e-05,
        0.00016659292941445525,
        0.9999999841611802
      ],
      [
        0.10690531425126007,
        -0.9942691909565391,
        0.00017233533635785392
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        103.476235,
        -23.21688,
        -62.359179,
        251.255916,
        13.801293,
        -166.382933,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1618.8862425746117,
    "filename": "scan-0520_light-57_camera-520.png"
  },
  {
    "id": 521,
    "scan_id": "0521",
    "camera_id": 521,
    "light_id": 58,
    "position": [
      177.552536,
      -136.381149,
      454.445435
    ],
    "rotation_matrix": [
      [
        0.9971515285614219,
        -0.07542428935708018,
        7.525024361811072e-05
      ],
      [
        -6.282691418915687e-05,
        0.0001670852852324045,
        0.9999999840676429
      ],
      [
        -0.07542430072860189,
        -0.9971515174021882,
        0.00016187067221445917
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        89.149712,
        -23.244267,
        -68.544316,
        220.010408,
        -2.173,
        -125.427165,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1650.4956023673963,
    "filename": "scan-0521_light-58_camera-521.png"
  },
  {
    "id": 522,
    "scan_id": "0522",
    "camera_id": 522,
    "light_id": 58,
    "position": [
      268.768555,
      -136.37706,
      443.258759
    ],
    "rotation_matrix": [
      [
        0.9679209694668214,
        -0.24242491270279518,
        0.06602392420517116
      ],
      [
        -0.05963047807285707,
        0.03362461694849195,
        0.9976540438548169
      ],
      [
        -0.2440762236499298,
        -0.9695873074850498,
        0.018090058393496533
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        86.821498,
        -23.141593,
        -68.216069,
        161.908018,
        -0.500765,
        -57.516196,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1650.4956023673963,
    "filename": "scan-0522_light-58_camera-522.png"
  },
  {
    "id": 523,
    "scan_id": "0523",
    "camera_id": 523,
    "light_id": 58,
    "position": [
      329.440704,
      -136.380127,
      426.347961
    ],
    "rotation_matrix": [
      [
        0.9312450651040509,
        -0.3643769220478553,
        0.003476693584886864
      ],
      [
        -0.0017377065343228693,
        0.0051002474894584204,
        0.9999854838204136
      ],
      [
        -0.3643893646847457,
        -0.9312375884566073,
        0.004116400146968513
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        80.881587,
        -24.291119,
        -59.508657,
        124.418301,
        11.09825,
        -13.045733,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1650.4956023673963,
    "filename": "scan-0523_light-58_camera-523.png"
  },
  {
    "id": 524,
    "scan_id": "0524",
    "camera_id": 524,
    "light_id": 59,
    "position": [
      421.421783,
      -136.381149,
      384.210754
    ],
    "rotation_matrix": [
      [
        0.8425667764861339,
        -0.5385918739663853,
        0.0001430354574875614
      ],
      [
        -6.318981042091609e-05,
        0.0001667195973079627,
        0.9999999841058115
      ],
      [
        -0.5385918892527186,
        -0.8425667721326023,
        0.00010643887527073126
      ]
    ],
    "position_light": [
      572.747559,
      91.361542,
      132.621323
    ],
    "rotation_matrix_light": [
      [
        0.3608057900565972,
        0.8395335332799626,
        0.40620515550654535
      ],
      [
        0.16038953146886203,
        0.3731994460811976,
        -0.9137819059490542
      ],
      [
        -0.9187460911790775,
        0.3948488570873028,
        1.3093683942644319e-07
      ]
    ],
    "servo_angle": [
      [
        64.177003,
        -19.172199,
        -56.178168,
        117.793591,
        29.575222,
        2.202794,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -47.673526,
        21.1367,
        -67.018816,
        -154.497267,
        46.924155,
        5.661568,
        0.0
      ]
    ],
    "turn_angle": 1688.5549899535422,
    "filename": "scan-0524_light-59_camera-524.png"
  },
  {
    "id": 525,
    "scan_id": "0525",
    "camera_id": 525,
    "light_id": 60,
    "position": [
      390.891663,
      -136.381149,
      400.640076
    ],
    "rotation_matrix": [
      [
        0.8765993394241414,
        -0.48122092609673073,
        0.00013567521345514422
      ],
      [
        -6.31106219708133e-05,
        0.00016697628346101778,
        0.9999999840679848
      ],
      [
        -0.48122094108445457,
        -0.8765993340206947,
        0.00011600114783011373
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        69.548711,
        -21.652992,
        -56.656874,
        118.513512,
        23.561228,
        -1.183616,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1799.722486366597,
    "filename": "scan-0525_light-60_camera-525.png"
  },
  {
    "id": 526,
    "scan_id": "0526",
    "camera_id": 526,
    "light_id": 60,
    "position": [
      317.703461,
      -136.381149,
      430.238586
    ],
    "rotation_matrix": [
      [
        0.9393713392160022,
        -0.34290155072460626,
        0.00011649118026590966
      ],
      [
        -6.294087640126844e-05,
        0.00016729677345361793,
        0.9999999840251179
      ],
      [
        -0.3429015647353929,
        -0.9393713315417127,
        0.00013557127000363156
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        83.057967,
        -24.4767,
        -60.247257,
        125.486523,
        8.820513,
        -15.323069,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1799.722486366597,
    "filename": "scan-0526_light-60_camera-526.png"
  },
  {
    "id": 527,
    "scan_id": "0527",
    "camera_id": 527,
    "light_id": 60,
    "position": [
      293.21405,
      -136.381149,
      437.380005
    ],
    "rotation_matrix": [
      [
        0.9550647989541561,
        -0.2963970610012099,
        0.00010967452928845045
      ],
      [
        -6.304225382022799e-05,
        0.00016688792360375349,
        0.9999999840870475
      ],
      [
        -0.296397074588012,
        -0.9550647906703849,
        0.00014070324245329946
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        87.112389,
        -24.416081,
        -62.576674,
        131.747405,
        4.256217,
        -24.229583,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1799.722486366597,
    "filename": "scan-0527_light-60_camera-527.png"
  },
  {
    "id": 528,
    "scan_id": "0528",
    "camera_id": 528,
    "light_id": 61,
    "position": [
      188.496231,
      -136.384003,
      453.937988
    ],
    "rotation_matrix": [
      [
        0.9912484763187175,
        -0.10216174218451406,
        -0.0836028506071759
      ],
      [
        0.08314282169877059,
        -0.008760354168536988,
        0.9964991356718821
      ],
      [
        -0.10253647836642008,
        -0.9947292267892135,
        -0.0001896722066917489
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        95.268844,
        -22.201141,
        -71.973583,
        180.994789,
        -4.253581,
        -84.923575,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1834.375563036951,
    "filename": "scan-0528_light-61_camera-528.png"
  },
  {
    "id": 529,
    "scan_id": "0529",
    "camera_id": 529,
    "light_id": 61,
    "position": [
      43.045956,
      -136.381149,
      441.412262
    ],
    "rotation_matrix": [
      [
        0.9828904150060868,
        0.1841912894749776,
        3.1156180201344363e-05
      ],
      [
        -6.290618938041559e-05,
        0.00016653182116443954,
        0.9999999841549818
      ],
      [
        0.18419128136796786,
        -0.9828904013920867,
        0.00017526930295397314
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        110.89346,
        -21.197032,
        -62.479902,
        253.627961,
        21.408854,
        -172.473875,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1834.375563036951,
    "filename": "scan-0529_light-61_camera-529.png"
  },
  {
    "id": 530,
    "scan_id": "0530",
    "camera_id": 530,
    "light_id": 61,
    "position": [
      -29.786127,
      -136.381149,
      418.852112
    ],
    "rotation_matrix": [
      [
        0.9453659585190304,
        0.32601104957031735,
        5.608454959227238e-06
      ],
      [
        -6.334253501794063e-05,
        0.00016647724527596441,
        0.9999999841365248
      ],
      [
        0.32601104346496906,
        -0.9453659438774948,
        0.000178032286875629
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        122.980578,
        -14.932999,
        -64.646771,
        254.607433,
        34.013009,
        -179.746887,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1834.375563036951,
    "filename": "scan-0530_light-61_camera-530.png"
  },
  {
    "id": 531,
    "scan_id": "0531",
    "camera_id": 531,
    "light_id": 62,
    "position": [
      -104.838692,
      -136.381149,
      382.204773
    ],
    "rotation_matrix": [
      [
        0.8809387773446775,
        0.4732302505165363,
        -2.3801697462993987e-05
      ],
      [
        -6.254664798555076e-05,
        0.00016672954571866905,
        0.9999999841445875
      ],
      [
        0.47323024698172167,
        -0.8809387618883135,
        0.0001764774880478881
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        132.922713,
        -5.511453,
        -68.893305,
        254.281248,
        44.727893,
        -185.394761,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1868.771406604665,
    "filename": "scan-0531_light-62_camera-531.png"
  },
  {
    "id": 532,
    "scan_id": "0532",
    "camera_id": 532,
    "light_id": 62,
    "position": [
      -128.614151,
      -136.381149,
      367.242432
    ],
    "rotation_matrix": [
      [
        0.8540835445728568,
        0.5201358455389411,
        -3.279260886879243e-05
      ],
      [
        -6.320385666053197e-05,
        0.00016682946006985055,
        0.9999999840866016
      ],
      [
        0.5201358427325855,
        -0.854083528908866,
        0.0001753608880211699
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        135.569148,
        -1.947197,
        -70.653488,
        254.115548,
        47.661093,
        -187.085331,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1868.771406604665,
    "filename": "scan-0532_light-62_camera-532.png"
  },
  {
    "id": 533,
    "scan_id": "0533",
    "camera_id": 533,
    "light_id": 62,
    "position": [
      -206.176453,
      -136.381149,
      303.844757
    ],
    "rotation_matrix": [
      [
        0.7384348363730827,
        0.6743248386636076,
        -6.627184781032858e-05
      ],
      [
        -6.276514068498384e-05,
        0.00016701121876272484,
        0.9999999840838947
      ],
      [
        0.6743248389991245,
        -0.7384348204605145,
        0.00016565099536558492
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        142.801938,
        11.79107,
        -78.051978,
        253.586708,
        55.944802,
        -192.914489,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1868.771406604665,
    "filename": "scan-0533_light-62_camera-533.png"
  },
  {
    "id": 534,
    "scan_id": "0534",
    "camera_id": 534,
    "light_id": 63,
    "position": [
      -299.846832,
      -136.381149,
      177.224091
    ],
    "rotation_matrix": [
      [
        0.5025409646754802,
        0.8645533910907504,
        -0.00011303327908801508
      ],
      [
        -6.281786264777933e-05,
        0.00016725609785123163,
        0.9999999840396571
      ],
      [
        0.8645533961976868,
        -0.5025409495542449,
        0.00013836243693526873
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        149.337782,
        35.242577,
        -92.713108,
        253.002349,
        64.031643,
        -202.642911,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1904.5297156923223,
    "filename": "scan-0534_light-63_camera-534.png"
  },
  {
    "id": 535,
    "scan_id": "0535",
    "camera_id": 535,
    "light_id": 63,
    "position": [
      -323.156952,
      -136.381149,
      126.548935
    ],
    "rotation_matrix": [
      [
        0.4069954309737036,
        0.9134301851428364,
        -0.00012663511758082002
      ],
      [
        -6.308538747779036e-05,
        0.0001667457267237049,
        0.9999999841080482
      ],
      [
        0.9134301917425125,
        -0.40699541651692633,
        0.00012548884607455069
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        150.695578,
        43.855049,
        -98.733348,
        252.814533,
        65.879489,
        -206.444027,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1904.5297156923223,
    "filename": "scan-0535_light-63_camera-535.png"
  },
  {
    "id": 536,
    "scan_id": "0536",
    "camera_id": 536,
    "light_id": 63,
    "position": [
      -353.097626,
      -136.381149,
      17.839924
    ],
    "rotation_matrix": [
      [
        0.20042069875303825,
        0.979709916808607,
        -0.00014972714013616883
      ],
      [
        -6.293253954159361e-05,
        0.00016570223343476131,
        0.9999999842911327
      ],
      [
        0.9797099262285952,
        -0.20042068618194692,
        9.486579048884058e-05
      ]
    ],
    "position_light": [
      522.453125,
      140.346237,
      190.846664
    ],
    "rotation_matrix_light": [
      [
        0.4220286966018832,
        0.7322299149548508,
        0.5345382408113823
      ],
      [
        0.2669252298563486,
        0.46312207090128016,
        -0.8451442889295562
      ],
      [
        -0.8663963878679615,
        0.4993568854930524,
        1.6559301402319093e-07
      ]
    ],
    "servo_angle": [
      [
        152.354921,
        61.940175,
        -112.621616,
        252.39255,
        68.40354,
        -215.00247,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -49.003591,
        3.28809,
        -53.941627,
        -166.58152,
        40.070204,
        20.020349,
        0.0
      ]
    ],
    "turn_angle": 1904.5297156923223,
    "filename": "scan-0536_light-63_camera-536.png"
  },
  {
    "id": 537,
    "scan_id": "0537",
    "camera_id": 537,
    "light_id": 64,
    "position": [
      -345.056213,
      -136.381149,
      57.677959
    ],
    "rotation_matrix": [
      [
        0.27635788468066647,
        0.9610547846150708,
        -0.00014332936563216103
      ],
      [
        -6.273255622735174e-05,
        0.0001671767337917407,
        0.9999999840582827
      ],
      [
        0.9610547932555424,
        -0.2763578712836297,
        0.00010649003183199612
      ]
    ],
    "position_light": [
      517.999268,
      62.674503,
      245.160629
    ],
    "rotation_matrix_light": [
      [
        0.5606023349649345,
        0.7265707816561524,
        0.39726555510820505
      ],
      [
        0.24267945929786858,
        0.314525994649672,
        -0.9177036987636739
      ],
      [
        -0.7917270375999274,
        0.6108750264441994,
        2.0257382987720618e-07
      ]
    ],
    "servo_angle": [
      [
        151.910649,
        55.305152,
        -107.312589,
        252.55166,
        67.672446,
        -211.766748,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -55.55141,
        10.207243,
        -71.803529,
        -158.227337,
        30.199861,
        18.895862,
        0.0
      ]
    ],
    "turn_angle": 1940.3680718476703,
    "filename": "scan-0537_light-64_camera-537.png"
  },
  {
    "id": 538,
    "scan_id": "0538",
    "camera_id": 538,
    "light_id": 64,
    "position": [
      -305.183777,
      -136.381149,
      166.809631
    ],
    "rotation_matrix": [
      [
        0.4829489402432551,
        0.8756485069830717,
        -0.00011548261446386876
      ],
      [
        -6.27795582461288e-05,
        0.00016650737435930374,
        0.9999999841670105
      ],
      [
        0.875648512347645,
        -0.48294892534678213,
        0.0001353873864368138
      ]
    ],
    "position_light": [
      517.999268,
      62.674503,
      245.160629
    ],
    "rotation_matrix_light": [
      [
        0.5606023349649345,
        0.7265707816561524,
        0.39726555510820505
      ],
      [
        0.24267945929786858,
        0.314525994649672,
        -0.9177036987636739
      ],
      [
        -0.7917270375999274,
        0.6108750264441994,
        2.0257382987720618e-07
      ]
    ],
    "servo_angle": [
      [
        149.656118,
        37.034846,
        -93.936889,
        252.963559,
        64.455517,
        -203.420644,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -55.55141,
        10.207243,
        -71.803529,
        -158.227337,
        30.199861,
        18.895862,
        0.0
      ]
    ],
    "turn_angle": 1940.3680718476703,
    "filename": "scan-0538_light-64_camera-538.png"
  },
  {
    "id": 539,
    "scan_id": "0539",
    "camera_id": 539,
    "light_id": 64,
    "position": [
      -288.323059,
      -136.381149,
      197.941238
    ],
    "rotation_matrix": [
      [
        0.5414419951221198,
        0.8407381010943329,
        -0.00010623781842367119
      ],
      [
        -6.280433823041554e-05,
        0.00016680904879573522,
        0.9999999841151781
      ],
      [
        0.8407381054607872,
        -0.5414419798492143,
        0.0001431194242487166
      ]
    ],
    "position_light": [
      517.999268,
      62.674503,
      245.160629
    ],
    "rotation_matrix_light": [
      [
        0.5606023349649345,
        0.7265707816561524,
        0.39726555510820505
      ],
      [
        0.24267945929786858,
        0.314525994649672,
        -0.9177036987636739
      ],
      [
        -0.7917270375999274,
        0.6108750264441994,
        2.0257382987720618e-07
      ]
    ],
    "servo_angle": [
      [
        148.633789,
        31.633344,
        -90.293737,
        253.081073,
        63.10941,
        -201.096269,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -55.55141,
        10.207243,
        -71.803529,
        -158.227337,
        30.199861,
        18.895862,
        0.0
      ]
    ],
    "turn_angle": 1940.3680718476703,
    "filename": "scan-0539_light-64_camera-539.png"
  },
  {
    "id": 540,
    "scan_id": "0540",
    "camera_id": 540,
    "light_id": 65,
    "position": [
      -228.421448,
      -136.381149,
      280.341034
    ],
    "rotation_matrix": [
      [
        0.695036975793742,
        0.7189739887201525,
        -7.631070425456743e-05
      ],
      [
        -6.255793575565827e-05,
        0.00016661351231744836,
        0.9999999841632211
      ],
      [
        0.7189739900483147,
        -0.695036960012755,
        0.0001607800803238857
      ]
    ],
    "position_light": [
      517.999268,
      62.674503,
      245.160629
    ],
    "rotation_matrix_light": [
      [
        0.5606023349649345,
        0.7265707816561524,
        0.39726555510820505
      ],
      [
        0.24267945929786858,
        0.314525994649672,
        -0.9177036987636739
      ],
      [
        -0.7917270375999274,
        0.6108750264441994,
        2.0257382987720618e-07
      ]
    ],
    "servo_angle": [
      [
        144.54012,
        16.45678,
        -80.769402,
        253.448454,
        58.016618,
        -194.813271,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -55.55141,
        10.207243,
        -71.803529,
        -158.227337,
        30.199861,
        18.895862,
        0.0
      ]
    ],
    "turn_angle": 1953.7759314829711,
    "filename": "scan-0540_light-65_camera-540.png"
  },
  {
    "id": 541,
    "scan_id": "0541",
    "camera_id": 541,
    "light_id": 65,
    "position": [
      -146.734894,
      -136.381149,
      354.577576
    ],
    "rotation_matrix": [
      [
        0.8311915063108577,
        0.5559862212771423,
        -3.9832803782113846e-05
      ],
      [
        -6.316360220942618e-05,
        0.0001660721961881384,
        0.9999999842151925
      ],
      [
        0.555986219116128,
        -0.8311914906746762,
        0.00017315589142063992
      ]
    ],
    "position_light": [
      517.999268,
      62.674503,
      245.160629
    ],
    "rotation_matrix_light": [
      [
        0.5606023349649345,
        0.7265707816561524,
        0.39726555510820505
      ],
      [
        0.24267945929786858,
        0.314525994649672,
        -0.9177036987636739
      ],
      [
        -0.7917270375999274,
        0.6108750264441994,
        2.0257382987720618e-07
      ]
    ],
    "servo_angle": [
      [
        137.440887,
        0.960392,
        -72.140715,
        253.987206,
        49.763103,
        -188.383939,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -55.55141,
        10.207243,
        -71.803529,
        -158.227337,
        30.199861,
        18.895862,
        0.0
      ]
    ],
    "turn_angle": 1953.7759314829711,
    "filename": "scan-0541_light-65_camera-541.png"
  },
  {
    "id": 542,
    "scan_id": "0542",
    "camera_id": 542,
    "light_id": 65,
    "position": [
      -66.923149,
      -136.381149,
      402.586945
    ],
    "rotation_matrix": [
      [
        0.9170781659170226,
        0.3987074585786661,
        -8.485944904268461e-06
      ],
      [
        -6.327185049984085e-05,
        0.00016681698811676915,
        0.9999999840843826
      ],
      [
        0.3987074536485905,
        -0.9170781507842359,
        0.0001782111762182459
      ]
    ],
    "position_light": [
      517.999268,
      62.674503,
      245.160629
    ],
    "rotation_matrix_light": [
      [
        0.5606023349649345,
        0.7265707816561524,
        0.39726555510820505
      ],
      [
        0.24267945929786858,
        0.314525994649672,
        -0.9177036987636739
      ],
      [
        -0.7917270375999274,
        0.6108750264441994,
        2.0257382987720618e-07
      ]
    ],
    "servo_angle": [
      [
        128.216152,
        -10.621721,
        -66.505045,
        254.508769,
        39.603588,
        -182.645939,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -55.55141,
        10.207243,
        -71.803529,
        -158.227337,
        30.199861,
        18.895862,
        0.0
      ]
    ],
    "turn_angle": 1953.7759314829711,
    "filename": "scan-0542_light-65_camera-542.png"
  },
  {
    "id": 543,
    "scan_id": "0543",
    "camera_id": 543,
    "light_id": 66,
    "position": [
      -45.269886,
      -136.381149,
      412.489197
    ],
    "rotation_matrix": [
      [
        0.9343766001598369,
        0.3562869195930305,
        -8.082417031207711e-07
      ],
      [
        -6.260621295076096e-05,
        0.00016645579400975663,
        0.9999999841864651
      ],
      [
        0.35628691409341146,
        -0.9343765853334391,
        0.00017783817364336318
      ]
    ],
    "position_light": [
      517.999268,
      62.674503,
      245.160629
    ],
    "rotation_matrix_light": [
      [
        0.5606023349649345,
        0.7265707816561524,
        0.39726555510820505
      ],
      [
        0.24267945929786858,
        0.314525994649672,
        -0.9177036987636739
      ],
      [
        -0.7917270375999274,
        0.6108750264441994,
        2.0257382987720618e-07
      ]
    ],
    "servo_angle": [
      [
        125.241126,
        -13.221116,
        -65.363713,
        254.589671,
        36.414562,
        -180.992784,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -55.55141,
        10.207243,
        -71.803529,
        -158.227337,
        30.199861,
        18.895862,
        0.0
      ]
    ],
    "turn_angle": 1996.008501921014,
    "filename": "scan-0543_light-66_camera-543.png"
  },
  {
    "id": 544,
    "scan_id": "0544",
    "camera_id": 544,
    "light_id": 66,
    "position": [
      83.812737,
      -136.381149,
      449.127533
    ],
    "rotation_matrix": [
      [
        0.9944506633051869,
        0.10520397448473365,
        4.4771524055846335e-05
      ],
      [
        -6.265674243009778e-05,
        0.00016670012525821232,
        0.9999999841426004
      ],
      [
        0.10520396535305351,
        -0.9944506503410231,
        0.00017236678846799247
      ]
    ],
    "position_light": [
      517.999268,
      62.674503,
      245.160629
    ],
    "rotation_matrix_light": [
      [
        0.5606023349649345,
        0.7265707816561524,
        0.39726555510820505
      ],
      [
        0.24267945929786858,
        0.314525994649672,
        -0.9177036987636739
      ],
      [
        -0.7917270375999274,
        0.6108750264441994,
        2.0257382987720618e-07
      ]
    ],
    "servo_angle": [
      [
        103.309848,
        -23.248794,
        -62.368175,
        251.174098,
        13.631067,
        -166.217004,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -55.55141,
        10.207243,
        -71.803529,
        -158.227337,
        30.199861,
        18.895862,
        0.0
      ]
    ],
    "turn_angle": 1996.008501921014,
    "filename": "scan-0544_light-66_camera-544.png"
  },
  {
    "id": 545,
    "scan_id": "0545",
    "camera_id": 545,
    "light_id": 66,
    "position": [
      134.762619,
      -136.381149,
      454.128815
    ],
    "rotation_matrix": [
      [
        0.9999764751371392,
        0.006858960985633415,
        6.18587131318263e-05
      ],
      [
        -6.300490386377741e-05,
        0.0001668925565961321,
        0.9999999840886283
      ],
      [
        0.006858950552739154,
        -0.9999764631235438,
        0.0001673207786491715
      ]
    ],
    "position_light": [
      517.999268,
      62.674503,
      245.160629
    ],
    "rotation_matrix_light": [
      [
        0.5606023349649345,
        0.7265707816561524,
        0.39726555510820505
      ],
      [
        0.24267945929786858,
        0.314525994649672,
        -0.9177036987636739
      ],
      [
        -0.7917270375999274,
        0.6108750264441994,
        2.0257382987720618e-07
      ]
    ],
    "servo_angle": [
      [
        94.019681,
        -24.078609,
        -64.204046,
        241.990386,
        4.016148,
        -151.982727,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -55.55141,
        10.207243,
        -71.803529,
        -158.227337,
        30.199861,
        18.895862,
        0.0
      ]
    ],
    "turn_angle": 1996.008501921014,
    "filename": "scan-0545_light-66_camera-545.png"
  },
  {
    "id": 546,
    "scan_id": "0546",
    "camera_id": 546,
    "light_id": 67,
    "position": [
      227.799469,
      -136.37915,
      450.319916
    ],
    "rotation_matrix": [
      [
        0.9832560612676502,
        -0.16714073251789546,
        0.07260505157224492
      ],
      [
        -0.07643341693714208,
        -0.016578658659083922,
        0.996936848979101
      ],
      [
        -0.165425060845508,
        -0.9857936516383371,
        -0.02907620390995147
      ]
    ],
    "position_light": [
      517.999268,
      62.674503,
      245.160629
    ],
    "rotation_matrix_light": [
      [
        0.5606023349649345,
        0.7265707816561524,
        0.39726555510820505
      ],
      [
        0.24267945929786858,
        0.314525994649672,
        -0.9177036987636739
      ],
      [
        -0.7917270375999274,
        0.6108750264441994,
        2.0257382987720618e-07
      ]
    ],
    "servo_angle": [
      [
        84.37365,
        -22.393597,
        -70.870639,
        202.671673,
        -5.309543,
        -102.931524,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -55.55141,
        10.207243,
        -71.803529,
        -158.227337,
        30.199861,
        18.895862,
        0.0
      ]
    ],
    "turn_angle": 2010.12902975946,
    "filename": "scan-0546_light-67_camera-546.png"
  },
  {
    "id": 547,
    "scan_id": "0547",
    "camera_id": 547,
    "light_id": 67,
    "position": [
      295.036224,
      -136.377762,
      436.904083
    ],
    "rotation_matrix": [
      [
        0.9548859226551505,
        -0.2958159638327279,
        0.02618759738380247
      ],
      [
        -0.019234003125595756,
        0.026392592181820773,
        0.9994665998429807
      ],
      [
        -0.2963493341291431,
        -0.9548802786840026,
        0.019512189563839155
      ]
    ],
    "position_light": [
      517.999268,
      62.674503,
      245.160629
    ],
    "rotation_matrix_light": [
      [
        0.5606023349649345,
        0.7265707816561524,
        0.39726555510820505
      ],
      [
        0.24267945929786858,
        0.314525994649672,
        -0.9177036987636739
      ],
      [
        -0.7917270375999274,
        0.6108750264441994,
        2.0257382987720618e-07
      ]
    ],
    "servo_angle": [
      [
        85.963665,
        -24.118486,
        -63.564453,
        138.773014,
        4.332478,
        -31.202078,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -55.55141,
        10.207243,
        -71.803529,
        -158.227337,
        30.199861,
        18.895862,
        0.0
      ]
    ],
    "turn_angle": 2010.12902975946,
    "filename": "scan-0547_light-67_camera-547.png"
  },
  {
    "id": 548,
    "scan_id": "0548",
    "camera_id": 548,
    "light_id": 68,
    "position": [
      244.957352,
      -136.381149,
      447.751282
    ],
    "rotation_matrix": [
      [
        0.9788743103068165,
        -0.2044628951441328,
        9.555435009186986e-05
      ],
      [
        -6.26491537649293e-05,
        0.00016740788766733683,
        0.9999999840248412
      ],
      [
        -0.20446290787435747,
        -0.9788743006555432,
        0.0001510618532232222
      ]
    ],
    "position_light": [
      459.537994,
      68.066162,
      301.27475
    ],
    "rotation_matrix_light": [
      [
        0.6348567086428548,
        0.6144926472233083,
        0.4683542953786718
      ],
      [
        0.33652969744620137,
        0.3257353354127813,
        -0.8835407483530633
      ],
      [
        -0.6954888368823252,
        0.7185369007726838,
        2.3827585937663542e-07
      ]
    ],
    "servo_angle": [
      [
        91.355599,
        -23.145948,
        -68.958794,
        158.225618,
        -2.43593,
        -56.214665,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.235683,
        1.379625,
        -70.817297,
        -175.936832,
        20.622298,
        42.315282,
        0.0
      ]
    ],
    "turn_angle": 2146.9198334255225,
    "filename": "scan-0548_light-68_camera-548.png"
  },
  {
    "id": 549,
    "scan_id": "0549",
    "camera_id": 549,
    "light_id": 68,
    "position": [
      203.272903,
      -136.381149,
      452.937317
    ],
    "rotation_matrix": [
      [
        0.9921885614282733,
        -0.12474715107523236,
        8.288248865089692e-05
      ],
      [
        -6.251421556588421e-05,
        0.00016719097421974416,
        0.9999999840695754
      ],
      [
        -0.1247471629451613,
        -0.9921885508036218,
        0.00015808650190135554
      ]
    ],
    "position_light": [
      459.537994,
      68.066162,
      301.27475
    ],
    "rotation_matrix_light": [
      [
        0.6348567086428548,
        0.6144926472233083,
        0.4683542953786718
      ],
      [
        0.33652969744620137,
        0.3257353354127813,
        -0.8835407483530633
      ],
      [
        -0.6954888368823252,
        0.7185369007726838,
        2.3827585937663542e-07
      ]
    ],
    "servo_angle": [
      [
        89.430289,
        -22.639568,
        -71.01216,
        197.294751,
        -3.809195,
        -99.894046,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.235683,
        1.379625,
        -70.817297,
        -175.936832,
        20.622298,
        42.315282,
        0.0
      ]
    ],
    "turn_angle": 2146.9198334255225,
    "filename": "scan-0549_light-68_camera-549.png"
  },
  {
    "id": 550,
    "scan_id": "0550",
    "camera_id": 550,
    "light_id": 69,
    "position": [
      107.087555,
      -136.382767,
      452.040283
    ],
    "rotation_matrix": [
      [
        0.9982656230375182,
        0.05868496780536511,
        -0.0046712327279940895
      ],
      [
        0.004134837787744705,
        0.009258353335796554,
        0.999948591683582
      ],
      [
        0.05872519883308068,
        -0.9982336186720988,
        0.008999643038606175
      ]
    ],
    "position_light": [
      459.537994,
      68.066162,
      301.27475
    ],
    "rotation_matrix_light": [
      [
        0.6348567086428548,
        0.6144926472233083,
        0.4683542953786718
      ],
      [
        0.33652969744620137,
        0.3257353354127813,
        -0.8835407483530633
      ],
      [
        -0.6954888368823252,
        0.7185369007726838,
        2.3827585937663542e-07
      ]
    ],
    "servo_angle": [
      [
        99.058215,
        -23.811725,
        -63.142871,
        246.308368,
        9.118165,
        -159.062251,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.235683,
        1.379625,
        -70.817297,
        -175.936832,
        20.622298,
        42.315282,
        0.0
      ]
    ],
    "turn_angle": 2157.8486337576032,
    "filename": "scan-0550_light-69_camera-550.png"
  },
  {
    "id": 551,
    "scan_id": "0551",
    "camera_id": 551,
    "light_id": 69,
    "position": [
      23.010839,
      -136.381149,
      436.363739
    ],
    "rotation_matrix": [
      [
        0.9747929890197061,
        0.2231112458026354,
        2.3546189810097484e-05
      ],
      [
        -6.238794420798666e-05,
        0.00016704286260182943,
        0.9999999841022131
      ],
      [
        0.2231112383224374,
        -0.9747929749916533,
        0.00017675166328534608
      ]
    ],
    "position_light": [
      459.537994,
      68.066162,
      301.27475
    ],
    "rotation_matrix_light": [
      [
        0.6348567086428548,
        0.6144926472233083,
        0.4683542953786718
      ],
      [
        0.33652969744620137,
        0.3257353354127813,
        -0.8835407483530633
      ],
      [
        -0.6954888368823252,
        0.7185369007726838,
        2.3827585937663542e-07
      ]
    ],
    "servo_angle": [
      [
        114.442647,
        -19.786295,
        -62.859601,
        254.166885,
        25.075842,
        -174.80696,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.235683,
        1.379625,
        -70.817297,
        -175.936832,
        20.622298,
        42.315282,
        0.0
      ]
    ],
    "turn_angle": 2157.8486337576032,
    "filename": "scan-0551_light-69_camera-551.png"
  },
  {
    "id": 552,
    "scan_id": "0552",
    "camera_id": 552,
    "light_id": 69,
    "position": [
      -121.597923,
      -136.381149,
      371.845795
    ],
    "rotation_matrix": [
      [
        0.8623699627318517,
        0.5062786253455345,
        -2.9934944569820487e-05
      ],
      [
        -6.295914971704564e-05,
        0.00016636891125670905,
        0.9999999841787655
      ],
      [
        0.5062786223158255,
        -0.8623699472034154,
        0.00017534642357192043
      ]
    ],
    "position_light": [
      459.537994,
      68.066162,
      301.27475
    ],
    "rotation_matrix_light": [
      [
        0.6348567086428548,
        0.6144926472233083,
        0.4683542953786718
      ],
      [
        0.33652969744620137,
        0.3257353354127813,
        -0.8835407483530633
      ],
      [
        -0.6954888368823252,
        0.7185369007726838,
        2.3827585937663542e-07
      ]
    ],
    "servo_angle": [
      [
        134.811297,
        -3.028197,
        -70.112101,
        254.165109,
        46.816783,
        -186.58617,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.235683,
        1.379625,
        -70.817297,
        -175.936832,
        20.622298,
        42.315282,
        0.0
      ]
    ],
    "turn_angle": 2157.8486337576032,
    "filename": "scan-0552_light-69_camera-552.png"
  },
  {
    "id": 553,
    "scan_id": "0553",
    "camera_id": 553,
    "light_id": 70,
    "position": [
      -177.58429,
      -136.381149,
      330.18158
    ],
    "rotation_matrix": [
      [
        0.786769283731555,
        0.6172471881763164,
        -5.352538948727448e-05
      ],
      [
        -6.294617919450074e-05,
        0.0001669501472469359,
        0.9999999840827135
      ],
      [
        0.6172471872874876,
        -0.786769267839104,
        0.0001702045998826507
      ]
    ],
    "position_light": [
      459.537994,
      68.066162,
      301.27475
    ],
    "rotation_matrix_light": [
      [
        0.6348567086428548,
        0.6144926472233083,
        0.4683542953786718
      ],
      [
        0.33652969744620137,
        0.3257353354127813,
        -0.8835407483530633
      ],
      [
        -0.6954888368823252,
        0.7185369007726838,
        2.3827585937663542e-07
      ]
    ],
    "servo_angle": [
      [
        140.3628,
        6.315771,
        -74.99267,
        253.773779,
        53.098463,
        -190.662707,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.235683,
        1.379625,
        -70.817297,
        -175.936832,
        20.622298,
        42.315282,
        0.0
      ]
    ],
    "turn_angle": 2195.26248448315,
    "filename": "scan-0553_light-70_camera-553.png"
  },
  {
    "id": 554,
    "scan_id": "0554",
    "camera_id": 554,
    "light_id": 70,
    "position": [
      -206.963806,
      -136.381149,
      303.061432
    ],
    "rotation_matrix": [
      [
        0.7369921201175424,
        0.675901331886314,
        -6.662549807739948e-05
      ],
      [
        -6.264251335985627e-05,
        0.00016687722072500355,
        0.9999999841139544
      ],
      [
        0.6759013322671925,
        -0.7369921042360632,
        0.000165327354914091
      ]
    ],
    "position_light": [
      459.537994,
      68.066162,
      301.27475
    ],
    "rotation_matrix_light": [
      [
        0.6348567086428548,
        0.6144926472233083,
        0.4683542953786718
      ],
      [
        0.33652969744620137,
        0.3257353354127813,
        -0.8835407483530633
      ],
      [
        -0.6954888368823252,
        0.7185369007726838,
        2.3827585937663542e-07
      ]
    ],
    "servo_angle": [
      [
        142.865708,
        11.949665,
        -78.142677,
        253.581781,
        56.020146,
        -192.979175,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.235683,
        1.379625,
        -70.817297,
        -175.936832,
        20.622298,
        42.315282,
        0.0
      ]
    ],
    "turn_angle": 2195.26248448315,
    "filename": "scan-0554_light-70_camera-554.png"
  },
  {
    "id": 555,
    "scan_id": "0555",
    "camera_id": 555,
    "light_id": 70,
    "position": [
      -280.814178,
      -136.381149,
      210.344315
    ],
    "rotation_matrix": [
      [
        0.5646823604223743,
        0.8253083189837798,
        -0.00010219580834075481
      ],
      [
        -6.268140267157163e-05,
        0.00016671453076394505,
        0.9999999841386533
      ],
      [
        0.8253083229308047,
        -0.5646823450599749,
        0.00014587223781897807
      ]
    ],
    "position_light": [
      459.537994,
      68.066162,
      301.27475
    ],
    "rotation_matrix_light": [
      [
        0.6348567086428548,
        0.6144926472233083,
        0.4683542953786718
      ],
      [
        0.33652969744620137,
        0.3257353354127813,
        -0.8835407483530633
      ],
      [
        -0.6954888368823252,
        0.7185369007726838,
        2.3827585937663542e-07
      ]
    ],
    "servo_angle": [
      [
        148.162016,
        29.440348,
        -88.85292,
        253.129545,
        62.501388,
        -200.168421,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.235683,
        1.379625,
        -70.817297,
        -175.936832,
        20.622298,
        42.315282,
        0.0
      ]
    ],
    "turn_angle": 2195.26248448315,
    "filename": "scan-0555_light-70_camera-555.png"
  },
  {
    "id": 556,
    "scan_id": "0556",
    "camera_id": 556,
    "light_id": 71,
    "position": [
      -322.710236,
      -136.381149,
      127.671974
    ],
    "rotation_matrix": [
      [
        0.40911805924060884,
        0.9124814505614556,
        -0.00012642966111164888
      ],
      [
        -6.300739450543213e-05,
        0.00016680571639676733,
        0.9999999841029603
      ],
      [
        0.912481457144892,
        -0.4091180447708394,
        0.00012573630969686667
      ]
    ],
    "position_light": [
      459.537994,
      68.066162,
      301.27475
    ],
    "rotation_matrix_light": [
      [
        0.6348567086428548,
        0.6144926472233083,
        0.4683542953786718
      ],
      [
        0.33652969744620137,
        0.3257353354127813,
        -0.8835407483530633
      ],
      [
        -0.6954888368823252,
        0.7185369007726838,
        2.3827585937663542e-07
      ]
    ],
    "servo_angle": [
      [
        150.67031,
        43.666718,
        -98.597843,
        252.818716,
        65.843966,
        -206.359115,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.235683,
        1.379625,
        -70.817297,
        -175.936832,
        20.622298,
        42.315282,
        0.0
      ]
    ],
    "turn_angle": 2221.1893459634384,
    "filename": "scan-0556_light-71_camera-556.png"
  },
  {
    "id": 557,
    "scan_id": "0557",
    "camera_id": 557,
    "light_id": 71,
    "position": [
      -346.32254,
      -136.381149,
      52.341885
    ],
    "rotation_matrix": [
      [
        0.26620163814945075,
        0.963917354903645,
        -0.00014409063062764682
      ],
      [
        -6.282449856653827e-05,
        0.00016683444068538167,
        0.999999984109676
      ],
      [
        0.9639173636259655,
        -0.2662016248669988,
        0.00010496922589159352
      ]
    ],
    "position_light": [
      459.537994,
      68.066162,
      301.27475
    ],
    "rotation_matrix_light": [
      [
        0.6348567086428548,
        0.6144926472233083,
        0.4683542953786718
      ],
      [
        0.33652969744620137,
        0.3257353354127813,
        -0.8835407483530633
      ],
      [
        -0.6954888368823252,
        0.7185369007726838,
        2.3827585937663542e-07
      ]
    ],
    "servo_angle": [
      [
        151.980149,
        56.1902,
        -108.005466,
        252.530633,
        67.782569,
        -212.191768,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -60.235683,
        1.379625,
        -70.817297,
        -175.936832,
        20.622298,
        42.315282,
        0.0
      ]
    ],
    "turn_angle": 2221.1893459634384,
    "filename": "scan-0557_light-71_camera-557.png"
  },
  {
    "id": 558,
    "scan_id": "0558",
    "camera_id": 558,
    "light_id": 72,
    "position": [
      -352.252472,
      -136.381149,
      22.91489
    ],
    "rotation_matrix": [
      [
        0.21010789857295206,
        0.9776781926765636,
        -0.00015007313500770003
      ],
      [
        -6.282065709378726e-05,
        0.0001669999904783115,
        0.999999984082284
      ],
      [
        0.977678202176372,
        -0.21010788580082124,
        9.650640355129969e-05
      ]
    ],
    "position_light": [
      406.285767,
      64.691322,
      338.101227
    ],
    "rotation_matrix_light": [
      [
        0.6732909353035378,
        0.5160156022474801,
        0.5295349041142217
      ],
      [
        0.4202945553186379,
        0.32211752737911603,
        -0.8482881499376689
      ],
      [
        -0.6083023945436972,
        0.793705358928825,
        2.632026641635754e-07
      ]
    ],
    "servo_angle": [
      [
        152.307652,
        61.090021,
        -111.926102,
        252.412947,
        68.321894,
        -214.581461,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.731127,
        -3.890555,
        -69.969319,
        -201.177743,
        17.19813,
        72.972707,
        0.0
      ]
    ],
    "turn_angle": 2221.1893459634384,
    "filename": "scan-0558_light-72_camera-558.png"
  },
  {
    "id": 559,
    "scan_id": "0559",
    "camera_id": 559,
    "light_id": 73,
    "position": [
      -308.384125,
      -136.381149,
      160.273056
    ],
    "rotation_matrix": [
      [
        0.47063940534499493,
        0.8823256408371518,
        -0.00011686667275923046
      ],
      [
        -6.306868335825833e-05,
        0.00016609432137476565,
        0.9999999842175089
      ],
      [
        0.8823256463227458,
        -0.47063939054650544,
        0.0001338176491038623
      ]
    ],
    "position_light": [
      406.285767,
      64.691322,
      338.101227
    ],
    "rotation_matrix_light": [
      [
        0.6732909353035378,
        0.5160156022474801,
        0.5295349041142217
      ],
      [
        0.4202945553186379,
        0.32211752737911603,
        -0.8482881499376689
      ],
      [
        -0.6083023945436972,
        0.793705358928825,
        2.632026641635754e-07
      ]
    ],
    "servo_angle": [
      [
        149.844735,
        38.15303,
        -94.70809,
        252.939323,
        64.709051,
        -203.909319,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.731127,
        -3.890555,
        -69.969319,
        -201.177743,
        17.19813,
        72.972707,
        0.0
      ]
    ],
    "turn_angle": 2264.5990505771038,
    "filename": "scan-0559_light-73_camera-559.png"
  },
  {
    "id": 560,
    "scan_id": "0560",
    "camera_id": 560,
    "light_id": 73,
    "position": [
      -296.314484,
      -136.381149,
      183.814682
    ],
    "rotation_matrix": [
      [
        0.5149268511917389,
        0.8572341136998445,
        -0.0001105938635009851
      ],
      [
        -6.282031134363653e-05,
        0.00016674759505236336,
        0.9999999841244238
      ],
      [
        0.8572341185320198,
        -0.5149268360694375,
        0.0001397145279811718
      ]
    ],
    "position_light": [
      406.285767,
      64.691322,
      338.101227
    ],
    "rotation_matrix_light": [
      [
        0.6732909353035378,
        0.5160156022474801,
        0.5295349041142217
      ],
      [
        0.4202945553186379,
        0.32211752737911603,
        -0.8482881499376689
      ],
      [
        -0.6083023945436972,
        0.793705358928825,
        2.632026641635754e-07
      ]
    ],
    "servo_angle": [
      [
        149.124527,
        34.10113,
        -91.941449,
        253.027158,
        63.750092,
        -202.150969,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.731127,
        -3.890555,
        -69.969319,
        -201.177743,
        17.19813,
        72.972707,
        0.0
      ]
    ],
    "turn_angle": 2264.5990505771038,
    "filename": "scan-0560_light-73_camera-560.png"
  },
  {
    "id": 561,
    "scan_id": "0561",
    "camera_id": 561,
    "light_id": 73,
    "position": [
      -225.021454,
      -136.381149,
      284.127655
    ],
    "rotation_matrix": [
      [
        0.7020437322364831,
        0.7121338305041529,
        -7.401994062350425e-05
      ],
      [
        -6.318859028869861e-05,
        0.0001662343342545558,
        0.9999999841866739
      ],
      [
        0.7121338315476041,
        -0.7020437164576209,
        0.0001617025052923493
      ]
    ],
    "position_light": [
      406.285767,
      64.691322,
      338.101227
    ],
    "rotation_matrix_light": [
      [
        0.6732909353035378,
        0.5160156022474801,
        0.5295349041142217
      ],
      [
        0.4202945553186379,
        0.32211752737911603,
        -0.8482881499376689
      ],
      [
        -0.6083023945436972,
        0.793705358928825,
        2.632026641635754e-07
      ]
    ],
    "servo_angle": [
      [
        144.282862,
        15.71755,
        -80.332178,
        253.469252,
        57.707335,
        -194.512525,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.731127,
        -3.890555,
        -69.969319,
        -201.177743,
        17.19813,
        72.972707,
        0.0
      ]
    ],
    "turn_angle": 2264.5990505771038,
    "filename": "scan-0561_light-73_camera-561.png"
  },
  {
    "id": 562,
    "scan_id": "0562",
    "camera_id": 562,
    "light_id": 74,
    "position": [
      -184.629822,
      -136.381149,
      324.052612
    ],
    "rotation_matrix": [
      [
        0.7755521777948715,
        0.6312834674603516,
        -5.682311929539052e-05
      ],
      [
        -6.282029314569337e-05,
        0.00016718881293142918,
        0.9999999840507555
      ],
      [
        0.6312834668920471,
        -0.7755521618557554,
        0.00016932106045575157
      ]
    ],
    "position_light": [
      406.285767,
      64.691322,
      338.101227
    ],
    "rotation_matrix_light": [
      [
        0.6732909353035378,
        0.5160156022474801,
        0.5295349041142217
      ],
      [
        0.4202945553186379,
        0.32211752737911603,
        -0.8482881499376689
      ],
      [
        -0.6083023945436972,
        0.793705358928825,
        2.632026641635754e-07
      ]
    ],
    "servo_angle": [
      [
        140.986579,
        7.616041,
        -75.706289,
        253.726682,
        53.820504,
        -191.20209,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.731127,
        -3.890555,
        -69.969319,
        -201.177743,
        17.19813,
        72.972707,
        0.0
      ]
    ],
    "turn_angle": 2311.204484324004,
    "filename": "scan-0562_light-74_camera-562.png"
  },
  {
    "id": 563,
    "scan_id": "0563",
    "camera_id": 563,
    "light_id": 74,
    "position": [
      -75.852478,
      -136.381149,
      398.147125
    ],
    "rotation_matrix": [
      [
        0.9092598344322786,
        0.4162289674407281,
        -1.2304891696790499e-05
      ],
      [
        -6.27324414076702e-05,
        0.0001666029666701485,
        0.999999984154046
      ],
      [
        0.41622896289521455,
        -0.9092598192522733,
        0.00017759644520254358
      ]
    ],
    "position_light": [
      406.285767,
      64.691322,
      338.101227
    ],
    "rotation_matrix_light": [
      [
        0.6732909353035378,
        0.5160156022474801,
        0.5295349041142217
      ],
      [
        0.4202945553186379,
        0.32211752737911603,
        -0.8482881499376689
      ],
      [
        -0.6083023945436972,
        0.793705358928825,
        2.632026641635754e-07
      ]
    ],
    "servo_angle": [
      [
        129.380975,
        -9.481649,
        -67.02254,
        254.46236,
        40.862089,
        -183.3057,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.731127,
        -3.890555,
        -69.969319,
        -201.177743,
        17.19813,
        72.972707,
        0.0
      ]
    ],
    "turn_angle": 2311.204484324004,
    "filename": "scan-0563_light-74_camera-563.png"
  },
  {
    "id": 564,
    "scan_id": "0564",
    "camera_id": 564,
    "light_id": 74,
    "position": [
      20.039688,
      -136.381149,
      435.54245
    ],
    "rotation_matrix": [
      [
        0.973452580055574,
        0.22888878048345768,
        2.3493431864127223e-05
      ],
      [
        -6.327058369813565e-05,
        0.0001664453861409121,
        0.999999984146383
      ],
      [
        0.22888877294436932,
        -0.9734525661092731,
        0.00017650861732038114
      ]
    ],
    "position_light": [
      406.285767,
      64.691322,
      338.101227
    ],
    "rotation_matrix_light": [
      [
        0.6732909353035378,
        0.5160156022474801,
        0.5295349041142217
      ],
      [
        0.4202945553186379,
        0.32211752737911603,
        -0.8482881499376689
      ],
      [
        -0.6083023945436972,
        0.793705358928825,
        2.632026641635754e-07
      ]
    ],
    "servo_angle": [
      [
        114.955674,
        -19.555909,
        -62.931106,
        254.223379,
        25.607948,
        -175.125352,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.731127,
        -3.890555,
        -69.969319,
        -201.177743,
        17.19813,
        72.972707,
        0.0
      ]
    ],
    "turn_angle": 2311.204484324004,
    "filename": "scan-0564_light-74_camera-564.png"
  },
  {
    "id": 565,
    "scan_id": "0565",
    "camera_id": 565,
    "light_id": 75,
    "position": [
      101.87458,
      -136.381149,
      451.481445
    ],
    "rotation_matrix": [
      [
        0.9975263161990313,
        0.07029399613843174,
        5.0963512540698475e-05
      ],
      [
        -6.285052820376863e-05,
        0.0001668925482180006,
        0.9999999840983438
      ],
      [
        0.07029398651521032,
        -0.9975263035397948,
        0.0001708977236118958
      ]
    ],
    "position_light": [
      406.285767,
      64.691322,
      338.101227
    ],
    "rotation_matrix_light": [
      [
        0.6732909353035378,
        0.5160156022474801,
        0.5295349041142217
      ],
      [
        0.4202945553186379,
        0.32211752737911603,
        -0.8482881499376689
      ],
      [
        -0.6083023945436972,
        0.793705358928825,
        2.632026641635754e-07
      ]
    ],
    "servo_angle": [
      [
        99.900234,
        -23.776889,
        -62.695792,
        249.064983,
        10.139634,
        -162.357962,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.731127,
        -3.890555,
        -69.969319,
        -201.177743,
        17.19813,
        72.972707,
        0.0
      ]
    ],
    "turn_angle": 2322.820396866166,
    "filename": "scan-0565_light-75_camera-565.png"
  },
  {
    "id": 566,
    "scan_id": "0566",
    "camera_id": 566,
    "light_id": 76,
    "position": [
      628.342896,
      -136.381149,
      160.358719
    ],
    "rotation_matrix": [
      [
        0.3956388216752842,
        -0.9184061688000618,
        0.0001785871906986869
      ],
      [
        -6.290637332212468e-05,
        0.00016735404187040448,
        0.9999999840177061
      ],
      [
        -0.9184061840091129,
        -0.39563882658634086,
        8.438154612377957e-06
      ]
    ],
    "position_light": [
      406.285767,
      64.691322,
      338.101227
    ],
    "rotation_matrix_light": [
      [
        0.6732909353035378,
        0.5160156022474801,
        0.5295349041142217
      ],
      [
        0.4202945553186379,
        0.32211752737911603,
        -0.8482881499376689
      ],
      [
        -0.6083023945436972,
        0.793705358928825,
        2.632026641635754e-07
      ]
    ],
    "servo_angle": [
      [
        38.051388,
        20.360342,
        -67.180677,
        118.925011,
        63.499079,
        17.350537,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -63.731127,
        -3.890555,
        -69.969319,
        -201.177743,
        17.19813,
        72.972707,
        0.0
      ]
    ],
    "turn_angle": 2366.691525305008,
    "filename": "scan-0566_light-76_camera-566.png"
  },
  {
    "id": 567,
    "scan_id": "0567",
    "camera_id": 567,
    "light_id": 77,
    "position": [
      655.694275,
      -136.381149,
      91.265312
    ],
    "rotation_matrix": [
      [
        0.26062191465972195,
        -0.9654409283128544,
        0.0001775880486159509
      ],
      [
        -6.280859598872812e-05,
        0.00016698976034468238,
        0.9999999840847502
      ],
      [
        -0.9654409426030064,
        -0.26062192166591497,
        -1.7116798147753798e-05
      ]
    ],
    "position_light": [
      297.612,
      71.281311,
      377.251556
    ],
    "rotation_matrix_light": [
      [
        0.5954253544573319,
        0.3171437648114168,
        0.7381656180767304
      ],
      [
        0.6515115006443194,
        0.3470176425469951,
        -0.674619537435222
      ],
      [
        -0.4701078725117754,
        0.8826089667584205,
        2.9268421691819313e-07
      ]
    ],
    "servo_angle": [
      [
        35.717845,
        31.750342,
        -72.594096,
        119.337025,
        67.779016,
        20.656561,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.755914,
        -15.566862,
        -58.142783,
        -248.997546,
        39.598259,
        125.854305,
        0.0
      ]
    ],
    "turn_angle": 2410.938029453987,
    "filename": "scan-0567_light-77_camera-567.png"
  },
  {
    "id": 568,
    "scan_id": "0568",
    "camera_id": 568,
    "light_id": 77,
    "position": [
      613.415344,
      -136.381149,
      189.059372
    ],
    "rotation_matrix": [
      [
        0.45200993686884683,
        -0.892012884108822,
        0.00017763919171803755
      ],
      [
        -6.282848738597968e-05,
        0.00016730709939610788,
        0.9999999840304576
      ],
      [
        -0.8920128995840824,
        -0.4520099408112568,
        1.958065119839203e-05
      ]
    ],
    "position_light": [
      297.612,
      71.281311,
      377.251556
    ],
    "rotation_matrix_light": [
      [
        0.5954253544573319,
        0.3171437648114168,
        0.7381656180767304
      ],
      [
        0.6515115006443194,
        0.3470176425469951,
        -0.674619537435222
      ],
      [
        -0.4701078725117754,
        0.8826089667584205,
        2.9268421691819313e-07
      ]
    ],
    "servo_angle": [
      [
        39.399844,
        15.489628,
        -65.091271,
        118.756447,
        61.294452,
        16.001794,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.755914,
        -15.566862,
        -58.142783,
        -248.997546,
        39.598259,
        125.854305,
        0.0
      ]
    ],
    "turn_angle": 2410.938029453987,
    "filename": "scan-0568_light-77_camera-568.png"
  },
  {
    "id": 569,
    "scan_id": "0569",
    "camera_id": 569,
    "light_id": 77,
    "position": [
      563.953308,
      -136.381149,
      262.037262
    ],
    "rotation_matrix": [
      [
        0.5962680832316234,
        -0.8027853658652949,
        0.00017109006408455585
      ],
      [
        -6.260755735232326e-05,
        0.00016661884837915197,
        0.9999999841592262
      ],
      [
        -0.8027853816553832,
        -0.5962680844978068,
        4.908907051831557e-05
      ]
    ],
    "position_light": [
      297.612,
      71.281311,
      377.251556
    ],
    "rotation_matrix_light": [
      [
        0.5954253544573319,
        0.3171437648114168,
        0.7381656180767304
      ],
      [
        0.6515115006443194,
        0.3470176425469951,
        -0.674619537435222
      ],
      [
        -0.4701078725117754,
        0.8826089667584205,
        2.9268421691819313e-07
      ]
    ],
    "servo_angle": [
      [
        44.363435,
        2.682531,
        -60.329878,
        118.268917,
        53.975718,
        12.434215,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.755914,
        -15.566862,
        -58.142783,
        -248.997546,
        39.598259,
        125.854305,
        0.0
      ]
    ],
    "turn_angle": 2410.938029453987,
    "filename": "scan-0569_light-77_camera-569.png"
  },
  {
    "id": 570,
    "scan_id": "0570",
    "camera_id": 570,
    "light_id": 78,
    "position": [
      60.874203,
      -136.381149,
      445.20163
    ],
    "rotation_matrix": [
      [
        0.988744310309278,
        0.14961513097211698,
        3.7619496391250173e-05
      ],
      [
        -6.328084584357463e-05,
        0.00016675506230157122,
        0.9999999840941418
      ],
      [
        0.14961512231911844,
        -0.9887442969630447,
        0.00017434589110487675
      ]
    ],
    "position_light": [
      297.612,
      71.281311,
      377.251556
    ],
    "rotation_matrix_light": [
      [
        0.5954253544573319,
        0.3171437648114168,
        0.7381656180767304
      ],
      [
        0.6515115006443194,
        0.3470176425469951,
        -0.674619537435222
      ],
      [
        -0.4701078725117754,
        0.8826089667584205,
        2.9268421691819313e-07
      ]
    ],
    "servo_angle": [
      [
        107.621929,
        -22.234716,
        -62.308645,
        252.840832,
        18.046509,
        -170.048545,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.755914,
        -15.566862,
        -58.142783,
        -248.997546,
        39.598259,
        125.854305,
        0.0
      ]
    ],
    "turn_angle": 2481.477446417856,
    "filename": "scan-0570_light-78_camera-570.png"
  },
  {
    "id": 571,
    "scan_id": "0571",
    "camera_id": 571,
    "light_id": 79,
    "position": [
      7.042443,
      -136.381149,
      431.724915
    ],
    "rotation_matrix": [
      [
        0.9671568693243591,
        0.2541802308997327,
        1.839735655287389e-05
      ],
      [
        -6.286138729666435e-05,
        0.00016680867008644906,
        0.9999999841116564
      ],
      [
        0.25418022379239136,
        -0.967156855114322,
        0.00017730827307471664
      ]
    ],
    "position_light": [
      297.612,
      71.281311,
      377.251556
    ],
    "rotation_matrix_light": [
      [
        0.5954253544573319,
        0.3171437648114168,
        0.7381656180767304
      ],
      [
        0.6515115006443194,
        0.3470176425469951,
        -0.674619537435222
      ],
      [
        -0.4701078725117754,
        0.8826089667584205,
        2.9268421691819313e-07
      ]
    ],
    "servo_angle": [
      [
        117.156347,
        -18.486197,
        -63.286913,
        254.414976,
        27.896627,
        -176.449859,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.755914,
        -15.566862,
        -58.142783,
        -248.997546,
        39.598259,
        125.854305,
        0.0
      ]
    ],
    "turn_angle": 2511.1831011264276,
    "filename": "scan-0571_light-79_camera-571.png"
  },
  {
    "id": 572,
    "scan_id": "0572",
    "camera_id": 572,
    "light_id": 79,
    "position": [
      -119.514923,
      -136.381149,
      373.181519
    ],
    "rotation_matrix": [
      [
        0.8647705793931848,
        0.5021671476403313,
        -2.909895426939091e-05
      ],
      [
        -6.313441183214419e-05,
        0.00016666907841383916,
        0.999999984117732
      ],
      [
        0.502167144514674,
        -0.8647705638215213,
        0.0001758345430146746
      ]
    ],
    "position_light": [
      297.612,
      71.281311,
      377.251556
    ],
    "rotation_matrix_light": [
      [
        0.5954253544573319,
        0.3171437648114168,
        0.7381656180767304
      ],
      [
        0.6515115006443194,
        0.3470176425469951,
        -0.674619537435222
      ],
      [
        -0.4701078725117754,
        0.8826089667584205,
        2.9268421691819313e-07
      ]
    ],
    "servo_angle": [
      [
        134.582629,
        -3.344355,
        -69.954996,
        254.179777,
        46.562733,
        -186.438117,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.755914,
        -15.566862,
        -58.142783,
        -248.997546,
        39.598259,
        125.854305,
        0.0
      ]
    ],
    "turn_angle": 2511.1831011264276,
    "filename": "scan-0572_light-79_camera-572.png"
  },
  {
    "id": 573,
    "scan_id": "0573",
    "camera_id": 573,
    "light_id": 79,
    "position": [
      -139.828293,
      -136.381149,
      359.540497
    ],
    "rotation_matrix": [
      [
        0.8401779810159532,
        0.5423107585271209,
        -3.7439223669721855e-05
      ],
      [
        -6.301065840930153e-05,
        0.00016665609047805674,
        0.9999999841277021
      ],
      [
        0.5423107561588776,
        -0.8401779653213279,
        0.00017419213557912094
      ]
    ],
    "position_light": [
      297.612,
      71.281311,
      377.251556
    ],
    "rotation_matrix_light": [
      [
        0.5954253544573319,
        0.3171437648114168,
        0.7381656180767304
      ],
      [
        0.6515115006443194,
        0.3470176425469951,
        -0.674619537435222
      ],
      [
        -0.4701078725117754,
        0.8826089667584205,
        2.9268421691819313e-07
      ]
    ],
    "servo_angle": [
      [
        136.741706,
        -0.167762,
        -71.558418,
        254.036022,
        48.975,
        -187.886784,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.755914,
        -15.566862,
        -58.142783,
        -248.997546,
        39.598259,
        125.854305,
        0.0
      ]
    ],
    "turn_angle": 2511.1831011264276,
    "filename": "scan-0573_light-79_camera-573.png"
  },
  {
    "id": 574,
    "scan_id": "0574",
    "camera_id": 574,
    "light_id": 80,
    "position": [
      -250.039154,
      -136.381149,
      254.373627
    ],
    "rotation_matrix": [
      [
        0.646852802191079,
        0.7626148731323343,
        -8.703391322645304e-05
      ],
      [
        -6.274821490187543e-05,
        0.00016734891355307813,
        0.999999984028501
      ],
      [
        0.7626148755172626,
        -0.6468527863986475,
        0.00015610283562217386
      ]
    ],
    "position_light": [
      297.612,
      71.281311,
      377.251556
    ],
    "rotation_matrix_light": [
      [
        0.5954253544573319,
        0.3171437648114168,
        0.7381656180767304
      ],
      [
        0.6515115006443194,
        0.3470176425469951,
        -0.674619537435222
      ],
      [
        -0.4701078725117754,
        0.8826089667584205,
        2.9268421691819313e-07
      ]
    ],
    "servo_angle": [
      [
        146.10928,
        21.412808,
        -83.764883,
        253.317877,
        59.926573,
        -196.836098,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.755914,
        -15.566862,
        -58.142783,
        -248.997546,
        39.598259,
        125.854305,
        0.0
      ]
    ],
    "turn_angle": 2534.714414997513,
    "filename": "scan-0574_light-80_camera-574.png"
  },
  {
    "id": 575,
    "scan_id": "0575",
    "camera_id": 575,
    "light_id": 80,
    "position": [
      -263.352264,
      -136.381149,
      236.503738
    ],
    "rotation_matrix": [
      [
        0.6135688767093207,
        0.7896412000571942,
        -9.330539790208814e-05
      ],
      [
        -6.258221038962786e-05,
        0.00016678954054411,
        0.9999999841323582
      ],
      [
        0.7896412030898147,
        -0.6135688611341713,
        0.00015175436275288723
      ]
    ],
    "position_light": [
      297.612,
      71.281311,
      377.251556
    ],
    "rotation_matrix_light": [
      [
        0.5954253544573319,
        0.3171437648114168,
        0.7381656180767304
      ],
      [
        0.6515115006443194,
        0.3470176425469951,
        -0.674619537435222
      ],
      [
        -0.4701078725117754,
        0.8826089667584205,
        2.9268421691819313e-07
      ]
    ],
    "servo_angle": [
      [
        147.021887,
        24.721525,
        -85.826671,
        253.237605,
        61.058852,
        -198.198878,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.755914,
        -15.566862,
        -58.142783,
        -248.997546,
        39.598259,
        125.854305,
        0.0
      ]
    ],
    "turn_angle": 2534.714414997513,
    "filename": "scan-0575_light-80_camera-575.png"
  },
  {
    "id": 576,
    "scan_id": "0576",
    "camera_id": 576,
    "light_id": 80,
    "position": [
      -323.748352,
      -136.381149,
      125.050461
    ],
    "rotation_matrix": [
      [
        0.40416184494147567,
        0.9146874804982684,
        -0.00012693790719620068
      ],
      [
        -6.304824945380094e-05,
        0.0001666357146575259,
        0.9999999841287281
      ],
      [
        0.9146874871334038,
        -0.4041618305237004,
        0.00012501724231189781
      ]
    ],
    "position_light": [
      297.612,
      71.281311,
      377.251556
    ],
    "rotation_matrix_light": [
      [
        0.5954253544573319,
        0.3171437648114168,
        0.7381656180767304
      ],
      [
        0.6515115006443194,
        0.3470176425469951,
        -0.674619537435222
      ],
      [
        -0.4701078725117754,
        0.8826089667584205,
        2.9268421691819313e-07
      ]
    ],
    "servo_angle": [
      [
        150.729038,
        44.106291,
        -98.914288,
        252.808975,
        65.926587,
        -206.557416,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.755914,
        -15.566862,
        -58.142783,
        -248.997546,
        39.598259,
        125.854305,
        0.0
      ]
    ],
    "turn_angle": 2534.714414997513,
    "filename": "scan-0576_light-80_camera-576.png"
  },
  {
    "id": 577,
    "scan_id": "0577",
    "camera_id": 577,
    "light_id": 81,
    "position": [
      -351.28125,
      -136.381149,
      28.397669
    ],
    "rotation_matrix": [
      [
        0.22057048417008562,
        0.9753710265811819,
        -0.00014838782036324938
      ],
      [
        -6.286144571426844e-05,
        0.00016635023300054508,
        0.9999999841880192
      ],
      [
        0.9753710358429826,
        -0.22057047135455643,
        9.800518427338645e-05
      ]
    ],
    "position_light": [
      297.612,
      71.281311,
      377.251556
    ],
    "rotation_matrix_light": [
      [
        0.5954253544573319,
        0.3171437648114168,
        0.7381656180767304
      ],
      [
        0.6515115006443194,
        0.3470176425469951,
        -0.674619537435222
      ],
      [
        -0.4701078725117754,
        0.8826089667584205,
        2.9268421691819313e-07
      ]
    ],
    "servo_angle": [
      [
        152.253565,
        60.173689,
        -111.181601,
        252.435063,
        68.229991,
        -214.129798,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -78.755914,
        -15.566862,
        -58.142783,
        -248.997546,
        39.598259,
        125.854305,
        0.0
      ]
    ],
    "turn_angle": 2572.5316825843474,
    "filename": "scan-0577_light-81_camera-577.png"
  },
  {
    "id": 578,
    "scan_id": "0578",
    "camera_id": 578,
    "light_id": 82,
    "position": [
      -344.961426,
      -136.381149,
      58.067543
    ],
    "rotation_matrix": [
      [
        0.27709973080414796,
        0.9608411517760185,
        -0.00014227439480279935
      ],
      [
        -6.290095346234148e-05,
        0.00016621293700064266,
        0.9999999842083649
      ],
      [
        0.9608411602506104,
        -0.277099717479095,
        0.00010649538467155661
      ]
    ],
    "position_light": [
      283.24292,
      11.780258,
      390.87085
    ],
    "rotation_matrix_light": [
      [
        0.7283832597569827,
        0.28994100385908295,
        0.6207995177083976
      ],
      [
        0.5767825695435863,
        0.22959509719889926,
        -0.7839693608891397
      ],
      [
        -0.3698373891002502,
        0.9290964996292986,
        3.081000667926048e-07
      ]
    ],
    "servo_angle": [
      [
        151.905435,
        55.240523,
        -107.262226,
        252.553264,
        67.664253,
        -211.735808,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.795145,
        -4.293918,
        -71.971463,
        -246.21383,
        31.350131,
        131.209913,
        0.0
      ]
    ],
    "turn_angle": 2572.5316825843474,
    "filename": "scan-0578_light-82_camera-578.png"
  },
  {
    "id": 579,
    "scan_id": "0579",
    "camera_id": 579,
    "light_id": 82,
    "position": [
      -327.799957,
      -136.381149,
      114.395836
    ],
    "rotation_matrix": [
      [
        0.3840053279527922,
        0.9233308676881391,
        -0.0001299158837506642
      ],
      [
        -6.298017288181024e-05,
        0.00016689640628114732,
        0.9999999840895437
      ],
      [
        0.9233308746800177,
        -0.38400531366096735,
        0.00012224064690224967
      ]
    ],
    "position_light": [
      283.24292,
      11.780258,
      390.87085
    ],
    "rotation_matrix_light": [
      [
        0.7283832597569827,
        0.28994100385908295,
        0.6207995177083976
      ],
      [
        0.5767825695435863,
        0.22959509719889926,
        -0.7839693608891397
      ],
      [
        -0.3698373891002502,
        0.9290964996292986,
        3.081000667926048e-07
      ]
    ],
    "servo_angle": [
      [
        150.956904,
        45.88819,
        -100.206995,
        252.769269,
        66.249964,
        -207.365917,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.795145,
        -4.293918,
        -71.971463,
        -246.21383,
        31.350131,
        131.209913,
        0.0
      ]
    ],
    "turn_angle": 2572.5316825843474,
    "filename": "scan-0579_light-82_camera-579.png"
  },
  {
    "id": 580,
    "scan_id": "0580",
    "camera_id": 580,
    "light_id": 83,
    "position": [
      -264.684357,
      -136.381149,
      234.624496
    ],
    "rotation_matrix": [
      [
        0.6100631708140873,
        0.792352774225942,
        -9.376947791928103e-05
      ],
      [
        -6.283155259073636e-05,
        0.00016671954327507343,
        0.9999999841283947
      ],
      [
        0.792352777283236,
        -0.6100631552397237,
        0.0001514942082111448
      ]
    ],
    "position_light": [
      283.24292,
      11.780258,
      390.87085
    ],
    "rotation_matrix_light": [
      [
        0.7283832597569827,
        0.28994100385908295,
        0.6207995177083976
      ],
      [
        0.5767825695435863,
        0.22959509719889926,
        -0.7839693608891397
      ],
      [
        -0.3698373891002502,
        0.9290964996292986,
        3.081000667926048e-07
      ]
    ],
    "servo_angle": [
      [
        147.111096,
        25.065185,
        -86.04365,
        253.229526,
        61.170464,
        -198.341201,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.795145,
        -4.293918,
        -71.971463,
        -246.21383,
        31.350131,
        131.209913,
        0.0
      ]
    ],
    "turn_angle": 2602.5659364147405,
    "filename": "scan-0580_light-83_camera-580.png"
  },
  {
    "id": 581,
    "scan_id": "0581",
    "camera_id": 581,
    "light_id": 83,
    "position": [
      -200.57547,
      -136.381149,
      309.322021
    ],
    "rotation_matrix": [
      [
        0.7485146752244014,
        0.6631182224546296,
        -6.34217733729292e-05
      ],
      [
        -6.287725153486523e-05,
        0.00016661631989228765,
        0.9999999841427265
      ],
      [
        0.663118222506485,
        -0.7485146593672127,
        0.00016640981184185
      ]
    ],
    "position_light": [
      283.24292,
      11.780258,
      390.87085
    ],
    "rotation_matrix_light": [
      [
        0.7283832597569827,
        0.28994100385908295,
        0.6207995177083976
      ],
      [
        0.5767825695435863,
        0.22959509719889926,
        -0.7839693608891397
      ],
      [
        -0.3698373891002502,
        0.9290964996292986,
        3.081000667926048e-07
      ]
    ],
    "servo_angle": [
      [
        142.342999,
        10.675522,
        -77.417198,
        253.622518,
        55.404274,
        -192.459102,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.795145,
        -4.293918,
        -71.971463,
        -246.21383,
        31.350131,
        131.209913,
        0.0
      ]
    ],
    "turn_angle": 2602.5659364147405,
    "filename": "scan-0581_light-83_camera-581.png"
  },
  {
    "id": 582,
    "scan_id": "0582",
    "camera_id": 582,
    "light_id": 83,
    "position": [
      -171.962372,
      -136.381149,
      334.915771
    ],
    "rotation_matrix": [
      [
        0.7954188264002495,
        0.6060601356442503,
        -5.090110484945454e-05
      ],
      [
        -6.283299828307998e-05,
        0.00016645155796324307,
        0.9999999841729464
      ],
      [
        0.6060601345246723,
        -0.795418810612844,
        0.00017047927835001087
      ]
    ],
    "position_light": [
      283.24292,
      11.780258,
      390.87085
    ],
    "rotation_matrix_light": [
      [
        0.7283832597569827,
        0.28994100385908295,
        0.6207995177083976
      ],
      [
        0.5767825695435863,
        0.22959509719889926,
        -0.7839693608891397
      ],
      [
        -0.3698373891002502,
        0.9290964996292986,
        3.081000667926048e-07
      ]
    ],
    "servo_angle": [
      [
        139.853784,
        5.299688,
        -74.440625,
        253.811881,
        52.512155,
        -190.238203,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.795145,
        -4.293918,
        -71.971463,
        -246.21383,
        31.350131,
        131.209913,
        0.0
      ]
    ],
    "turn_angle": 2602.5659364147405,
    "filename": "scan-0582_light-83_camera-582.png"
  },
  {
    "id": 583,
    "scan_id": "0583",
    "camera_id": 583,
    "light_id": 84,
    "position": [
      -111.045364,
      -136.381149,
      378.47049
    ],
    "rotation_matrix": [
      [
        0.8742585108042478,
        0.4854606633124825,
        -2.573991940529874e-05
      ],
      [
        -6.294209440801946e-05,
        0.00016637306959338405,
        0.9999999841791471
      ],
      [
        0.4854606599145102,
        -0.874258495352608,
        0.0001760089829621614
      ]
    ],
    "position_light": [
      283.24292,
      11.780258,
      390.87085
    ],
    "rotation_matrix_light": [
      [
        0.7283832597569827,
        0.28994100385908295,
        0.6207995177083976
      ],
      [
        0.5767825695435863,
        0.22959509719889926,
        -0.7839693608891397
      ],
      [
        -0.3698373891002502,
        0.9290964996292986,
        3.081000667926048e-07
      ]
    ],
    "servo_angle": [
      [
        133.635301,
        -4.607898,
        -69.332649,
        254.238792,
        45.51359,
        -185.83634,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.795145,
        -4.293918,
        -71.971463,
        -246.21383,
        31.350131,
        131.209913,
        0.0
      ]
    ],
    "turn_angle": 2617.040770904552,
    "filename": "scan-0583_light-84_camera-583.png"
  },
  {
    "id": 584,
    "scan_id": "0584",
    "camera_id": 584,
    "light_id": 84,
    "position": [
      -14.332768,
      -136.381149,
      424.632233
    ],
    "rotation_matrix": [
      [
        0.9552374338613889,
        0.2958402353153576,
        1.0884042060871346e-05
      ],
      [
        -6.305364916603384e-05,
        0.0001668034237618521,
        0.9999999841004275
      ],
      [
        0.2958402287961288,
        -0.9552374193598006,
        0.00017799068088031333
      ]
    ],
    "position_light": [
      283.24292,
      11.780258,
      390.87085
    ],
    "rotation_matrix_light": [
      [
        0.7283832597569827,
        0.28994100385908295,
        0.6207995177083976
      ],
      [
        0.5767825695435863,
        0.22959509719889926,
        -0.7839693608891397
      ],
      [
        -0.3698373891002502,
        0.9290964996292986,
        3.081000667926048e-07
      ]
    ],
    "servo_angle": [
      [
        120.61283,
        -16.515107,
        -64.015429,
        254.576035,
        31.515028,
        -178.430918,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.795145,
        -4.293918,
        -71.971463,
        -246.21383,
        31.350131,
        131.209913,
        0.0
      ]
    ],
    "turn_angle": 2617.040770904552,
    "filename": "scan-0584_light-84_camera-584.png"
  },
  {
    "id": 585,
    "scan_id": "0585",
    "camera_id": 585,
    "light_id": 84,
    "position": [
      119.563416,
      -136.381149,
      453.166504
    ],
    "rotation_matrix": [
      [
        0.9993462241301228,
        0.03615412951570834,
        5.6884341379952186e-05
      ],
      [
        -6.296519402549522e-05,
        0.0001670539025127038,
        0.999999984064189
      ],
      [
        0.03615411943681174,
        -0.9993462117864637,
        0.00016922113848205633
      ]
    ],
    "position_light": [
      283.24292,
      11.780258,
      390.87085
    ],
    "rotation_matrix_light": [
      [
        0.7283832597569827,
        0.28994100385908295,
        0.6207995177083976
      ],
      [
        0.5767825695435863,
        0.22959509719889926,
        -0.7839693608891397
      ],
      [
        -0.3698373891002502,
        0.9290964996292986,
        3.081000667926048e-07
      ]
    ],
    "servo_angle": [
      [
        96.643026,
        -24.048414,
        -63.33315,
        245.935774,
        6.779867,
        -157.473726,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.795145,
        -4.293918,
        -71.971463,
        -246.21383,
        31.350131,
        131.209913,
        0.0
      ]
    ],
    "turn_angle": 2617.040770904552,
    "filename": "scan-0585_light-84_camera-585.png"
  },
  {
    "id": 586,
    "scan_id": "0586",
    "camera_id": 586,
    "light_id": 85,
    "position": [
      579.173828,
      -136.381149,
      242.286407
    ],
    "rotation_matrix": [
      [
        0.557079012986718,
        -0.8304594770694457,
        0.00017388296935139103
      ],
      [
        -6.294581513821562e-05,
        0.00016715707128622803,
        0.9999999840481688
      ],
      [
        -0.8304594928878641,
        -0.5570790150454927,
        4.084574756246795e-05
      ]
    ],
    "position_light": [
      283.24292,
      11.780258,
      390.87085
    ],
    "rotation_matrix_light": [
      [
        0.7283832597569827,
        0.28994100385908295,
        0.6207995177083976
      ],
      [
        0.5767825695435863,
        0.22959509719889926,
        -0.7839693608891397
      ],
      [
        -0.3698373891002502,
        0.9290964996292986,
        3.081000667926048e-07
      ]
    ],
    "servo_angle": [
      [
        42.747464,
        6.208513,
        -61.525583,
        118.413474,
        56.257523,
        13.442277,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.795145,
        -4.293918,
        -71.971463,
        -246.21383,
        31.350131,
        131.209913,
        0.0
      ]
    ],
    "turn_angle": 2651.869041549081,
    "filename": "scan-0586_light-85_camera-586.png"
  },
  {
    "id": 587,
    "scan_id": "0587",
    "camera_id": 587,
    "light_id": 86,
    "position": [
      583.16394,
      -136.381149,
      236.767975
    ],
    "rotation_matrix": [
      [
        0.5461500009459613,
        -0.8376873797686442,
        0.00017390534774291977
      ],
      [
        -6.280711079725831e-05,
        0.00016665315096686673,
        0.999999984140997
      ],
      [
        -0.8376873954656316,
        -0.5461500032070592,
        3.840489448359019e-05
      ]
    ],
    "position_light": [
      283.24292,
      11.780258,
      390.87085
    ],
    "rotation_matrix_light": [
      [
        0.7283832597569827,
        0.28994100385908295,
        0.6207995177083976
      ],
      [
        0.5767825695435863,
        0.22959509719889926,
        -0.7839693608891397
      ],
      [
        -0.3698373891002502,
        0.9290964996292986,
        3.081000667926048e-07
      ]
    ],
    "servo_angle": [
      [
        42.337456,
        7.185979,
        -61.873483,
        118.451919,
        56.84956,
        13.715922,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.795145,
        -4.293918,
        -71.971463,
        -246.21383,
        31.350131,
        131.209913,
        0.0
      ]
    ],
    "turn_angle": 2698.285030439924,
    "filename": "scan-0587_light-86_camera-587.png"
  },
  {
    "id": 588,
    "scan_id": "0588",
    "camera_id": 588,
    "light_id": 86,
    "position": [
      621.899658,
      -136.381149,
      173.286194
    ],
    "rotation_matrix": [
      [
        0.4210070912223861,
        -0.9070573287638181,
        0.00017741564849360625
      ],
      [
        -6.272953426778027e-05,
        0.00016647907705680254,
        0.999999984174861
      ],
      [
        -0.9070573439455033,
        -0.4210070956890914,
        1.3189588193518453e-05
      ]
    ],
    "position_light": [
      283.24292,
      11.780258,
      390.87085
    ],
    "rotation_matrix_light": [
      [
        0.7283832597569827,
        0.28994100385908295,
        0.6207995177083976
      ],
      [
        0.5767825695435863,
        0.22959509719889926,
        -0.7839693608891397
      ],
      [
        -0.3698373891002502,
        0.9290964996292986,
        3.081000667926048e-07
      ]
    ],
    "servo_angle": [
      [
        38.62595,
        18.177602,
        -66.226874,
        118.849724,
        62.543042,
        16.743087,
        0.0
      ]
    ],
    "servo_angle_light": [
      [
        -79.795145,
        -4.293918,
        -71.971463,
        -246.21383,
        31.350131,
        131.209913,
        0.0
      ]
    ],
    "turn_angle": 2698.285030439924,
    "filename": "scan-0588_light-86_camera-588.png"
  }
]