diff --git a/sim_subset/at_rest_newbatch/7/annotation.txt b/sim_subset/at_rest_newbatch/7/annotation.txt
new file mode 100644
index 0000000000000000000000000000000000000000..62865401061aa4f8c4c350bb0c9a85f25e118971
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/annotation.txt
@@ -0,0 +1 @@
+Environment: g=-9.81, F_drag=0.0
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0000.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0000.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0000.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+            0.0,
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+            0.6411276611401581,
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+            0.6411276611401581,
+            89.47613746064349
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+        0.9066914335969535,
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+        -221.9735813675223,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0001.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0001.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0001.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            0.0,
+            1.0
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+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        -0.2982537881083,
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+        -0.2982537881083,
+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0002.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0002.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0002.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+        [
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+            1.0
+        ]
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
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+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0003.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0003.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0003.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+        [
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+            0.0,
+            1.0
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+            0.6411276611401581,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0004.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0004.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0004.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
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+    "view_matrix": [
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+        8.326672684688674e-17,
+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0005.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0005.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0005.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
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+            1108.5125456755613,
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+            0.0,
+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0006.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0006.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0006.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0007.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0007.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0007.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
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+            0.0,
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+            0.6411276611401581,
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+            0.9066914335969535,
+            0.42179455217190914,
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+    "view_matrix": [
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+        0.9066914335969535,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0008.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0008.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0008.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0009.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0009.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0009.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
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+            0.0,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0010.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0010.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0010.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+            0.9066914335969535,
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+        -221.9735813675223,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0011.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0011.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0011.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+            89.47613746064349
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+        -221.9735813675223,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0012.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0012.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0012.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
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+        ],
+        [
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+            0.0,
+            1.0
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+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        8.326672684688674e-17,
+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0013.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0013.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0013.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
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+            0.0,
+            1.0
+        ]
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
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+        -5.258027502304421e-14,
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0014.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0014.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0014.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    "view_matrix": [
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0015.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0015.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0015.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
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+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0016.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0016.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0016.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
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+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.6411276611401581,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        -221.9735813675223,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0017.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0017.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0017.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+        ],
+        [
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+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            -0.2982537881083,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0018.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0018.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0018.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
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+            1108.5125456755613,
+            360.0
+        ],
+        [
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+            0.0,
+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0019.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0019.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0019.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
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+        [
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+            0.0,
+            1.0
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.9066914335969535,
+            0.42179455217190914,
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+    "view_matrix": [
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0020.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0020.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0020.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+        [
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+            -0.2982537881083,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0021.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0021.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0021.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+        [
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+        [
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+        0.9066914335969535,
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0022.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0022.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0022.json
@@ -0,0 +1,61 @@
+{
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+        720
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+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0023.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0023.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0023.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
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+        720
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+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0024.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0024.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0024.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
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+    ],
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+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0025.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0025.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0025.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
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+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0026.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0026.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0026.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
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+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0027.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0027.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0027.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
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+        720
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+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0028.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0028.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0028.json
@@ -0,0 +1,61 @@
+{
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+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0029.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0029.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0029.json
@@ -0,0 +1,61 @@
+{
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+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0030.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0030.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0030.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
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+        720
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+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0031.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0031.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0031.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
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+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0032.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0032.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0032.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
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+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0033.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0033.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0033.json
@@ -0,0 +1,61 @@
+{
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+        [
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+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0034.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0034.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0034.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
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+            89.47613746064349
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+            0.9066914335969535,
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+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0035.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0035.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0035.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+        -5.258027502304421e-14,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0036.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0036.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0036.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
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+            640.0
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+            0.6411276611401581,
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+            89.47613746064349
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+            0.9066914335969535,
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+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0037.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0037.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0037.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
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+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0038.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0038.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0038.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0039.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0039.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0039.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
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+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0040.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0040.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0040.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0041.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0041.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0041.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0042.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0042.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0042.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0043.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0043.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0043.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
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+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0044.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0044.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0044.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            0.42179455217190914,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0045.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0045.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0045.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+            89.47613746064349
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0046.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0046.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0046.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    "view_matrix": [
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0047.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0047.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0047.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            1.0
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+    "extrinsic": [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        0.6411276611401581,
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+        0.7071067811865477,
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0048.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0048.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0048.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+            1.0
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+            0.42179455217190914,
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+    "view_matrix": [
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0049.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0049.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0049.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+        [
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+        ],
+        [
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+            1.0
+        ]
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+    "extrinsic": [
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+            0.42179455217190914,
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+    "view_matrix": [
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0050.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0050.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0050.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
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+        [
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+        [
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+        89.47613746064349,
+        -221.9735813675223,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0051.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0051.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0051.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+        [
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+    "extrinsic": [
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+        [
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+            0.9066914335969535,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0052.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0052.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0052.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0053.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0053.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0053.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+    "extrinsic": [
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0054.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0054.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0054.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+    "view_matrix": [
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0055.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0055.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0055.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        0.6411276611401581,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0056.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0056.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0056.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
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+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
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+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0057.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0057.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0057.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
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+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
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+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0058.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0058.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0058.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
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+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0059.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0059.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0059.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0060.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0060.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0060.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+        ],
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    "view_matrix": [
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0061.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0061.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0061.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+        ],
+        [
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+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    "view_matrix": [
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0062.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0062.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0062.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            89.47613746064349
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0063.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0063.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0063.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
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+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            0.6411276611401581,
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+        ],
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+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    "view_matrix": [
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0064.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0064.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0064.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
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+        ],
+        [
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+            1.0
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0065.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0065.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0065.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+        [
+            0.0,
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+    "extrinsic": [
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+            0.6411276611401581,
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+            89.47613746064349
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+            0.9066914335969535,
+            0.42179455217190914,
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+    "view_matrix": [
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+        0.6411276611401581,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0066.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0066.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0066.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+        [
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+    "view_matrix": [
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+        89.47613746064349,
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+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0067.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0067.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0067.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+            1.0
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.6411276611401581,
+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        0.9066914335969535,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0068.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0068.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0068.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
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+        [
+            0.0,
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+            360.0
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+            1.0
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+            0.6411276611401581,
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+        ],
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+            0.7071067811865477,
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+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.9066914335969535,
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+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0069.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0069.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0069.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+        [
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+            1.0
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+            0.6411276611401581,
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+            0.6411276611401581,
+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
+        -0.0,
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+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0070.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0070.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0070.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    "view_matrix": [
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+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0071.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0071.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0071.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
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+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+    "view_matrix": [
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0072.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0072.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0072.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
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+    "extrinsic": [
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0073.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0073.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0073.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
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+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.9066914335969535,
+            0.42179455217190914,
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+    "view_matrix": [
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0074.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0074.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0074.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+        [
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+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.9066914335969535,
+            0.42179455217190914,
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+    "view_matrix": [
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0075.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0075.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0075.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0076.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0076.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0076.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+        [
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0077.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0077.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0077.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+        89.47613746064349,
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+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0078.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0078.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0078.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+            0.6411276611401581,
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+            89.47613746064349
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    "view_matrix": [
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0079.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0079.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0079.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
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+        [
+            0.0,
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
+        -0.0,
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+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0080.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0080.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0080.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        0.6411276611401581,
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+        0.7071067811865477,
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+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0081.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0081.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0081.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+        [
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+    "extrinsic": [
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+            0.6411276611401581,
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+    "view_matrix": [
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+        89.47613746064349,
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+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0082.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0082.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0082.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0083.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0083.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0083.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
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+    "extrinsic": [
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+        89.47613746064349,
+        -221.9735813675223,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0084.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0084.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0084.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
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+    "extrinsic": [
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0085.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0085.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0085.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
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+    "extrinsic": [
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+            0.9066914335969535,
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+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0086.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0086.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0086.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0087.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0087.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0087.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0088.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0088.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0088.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0089.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0089.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0089.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+        [
+            0.0,
+            1108.5125456755613,
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+        [
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+            1.0
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+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
+        -0.7071067811865475,
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+        0.6411276611401581,
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+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0090.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0090.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0090.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0091.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0091.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0091.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0092.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0092.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0092.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0093.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0093.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0093.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        0.7071067811865477,
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+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0094.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0094.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0094.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
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+            89.47613746064349
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0095.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0095.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0095.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            89.47613746064349
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0096.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0096.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0096.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0097.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0097.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0097.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
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+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.7071067811865477,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
+    ],
+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0098.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0098.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0098.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
+    ],
+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0099.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0099.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0099.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
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+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.7071067811865477,
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.9066914335969535,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0100.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0100.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0100.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0101.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0101.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0101.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0102.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0102.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0102.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0103.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0103.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0103.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0104.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0104.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0104.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0105.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0105.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0105.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0106.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0106.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0106.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0107.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0107.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0107.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0108.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0108.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0108.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0109.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0109.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0109.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0110.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0110.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0110.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0111.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0111.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0111.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
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+            0.7071067811865477,
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        89.47613746064349,
+        -221.9735813675223,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0112.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0112.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0112.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
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+        [
+            0.0,
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+            360.0
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+        [
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+            0.0,
+            1.0
+        ]
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
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+        0.6411276611401581,
+        -0.0,
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
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+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0113.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0113.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0113.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
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+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
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+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0114.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0114.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0114.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            89.47613746064349
+        ],
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        0.6411276611401581,
+        -0.0,
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+        0.6411276611401581,
+        0.0,
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+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0115.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0115.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0115.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
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+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
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+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
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+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        0.7071067811865477,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0116.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0116.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0116.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
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+            1108.5125456755613,
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+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.9066914335969535,
+            0.42179455217190914,
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+    "view_matrix": [
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0117.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0117.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0117.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
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+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.9066914335969535,
+            0.42179455217190914,
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+    "view_matrix": [
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0118.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0118.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0118.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+        ],
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+            89.47613746064349
+        ],
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    "view_matrix": [
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+        8.326672684688674e-17,
+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0119.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0119.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0119.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            0.9066914335969535,
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+    "view_matrix": [
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0120.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0120.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0120.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
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+            0.0,
+            1.0
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+    ],
+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
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+            0.7071067811865477,
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+            89.47613746064349
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.9066914335969535,
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+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0121.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0121.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0121.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
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+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            89.47613746064349
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
+    ],
+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0122.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0122.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0122.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0123.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0123.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0123.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
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+            0.0,
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        0.0,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0124.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0124.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0124.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
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+        [
+            0.0,
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+            0.6411276611401581,
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+            0.7071067811865477,
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+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
+        -0.0,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0125.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0125.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0125.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
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+        [
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+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
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+            0.6411276611401581,
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+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        0.6411276611401581,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0126.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0126.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0126.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
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+            0.9066914335969535,
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+    "view_matrix": [
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0127.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0127.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0127.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
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+            1.0
+        ]
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.9066914335969535,
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+    "view_matrix": [
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0128.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0128.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0128.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
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+        [
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+    "extrinsic": [
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+        0.42179455217190914,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0129.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0129.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0129.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
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+            0.0,
+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.7071067811865477,
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+            89.47613746064349
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
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+    ],
+    "view_matrix": [
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+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0130.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0130.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0130.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
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+            0.0,
+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.9066914335969535,
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0131.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0131.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0131.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+        ],
+        [
+            0.0,
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
+    ],
+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0132.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0132.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0132.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0133.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0133.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0133.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
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+        [
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+            1.0
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+            0.6411276611401581,
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+            89.47613746064349
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+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0134.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0134.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0134.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0135.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0135.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0135.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0136.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0136.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0136.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0137.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0137.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0137.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0138.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0138.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0138.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0139.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0139.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0139.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
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+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0140.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0140.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0140.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0141.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0141.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0141.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
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+        0.6411276611401581,
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+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0142.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0142.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0142.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            0.6411276611401581,
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+        ],
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+            0.7071067811865477,
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0143.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0143.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0143.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0144.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0144.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0144.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
+            0.0,
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+            1.0
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+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
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+        [
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+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0145.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0145.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0145.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
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+        [
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+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
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+        0.7071067811865477,
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+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0146.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0146.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0146.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
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+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0147.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0147.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0147.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
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+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0148.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0148.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0148.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
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+            0.0,
+            1.0
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+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
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+            0.6411276611401581,
+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        0.6411276611401581,
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0149.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0149.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0149.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
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+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
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+            0.7071067811865477,
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+            0.9066914335969535,
+            0.42179455217190914,
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+    "view_matrix": [
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0150.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0150.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0150.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
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+        ],
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+            0.7071067811865477,
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+            0.9066914335969535,
+            0.42179455217190914,
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+    "view_matrix": [
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+        0.6411276611401581,
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+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0151.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0151.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0151.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
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+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            0.6411276611401581,
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+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0152.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0152.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0152.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+        ],
+        [
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+            1.0
+        ]
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+    "extrinsic": [
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0153.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0153.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0153.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.9066914335969535,
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+        ]
+    ],
+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0154.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0154.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0154.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
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+        [
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+    "extrinsic": [
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+        [
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+            0.9066914335969535,
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+    ],
+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0155.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0155.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0155.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0156.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0156.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0156.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0157.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0157.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0157.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0158.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0158.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0158.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0159.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0159.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0159.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0160.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0160.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0160.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
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+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
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+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0161.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0161.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0161.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
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+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0162.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0162.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0162.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0163.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0163.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0163.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0164.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0164.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0164.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.7071067811865477,
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
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+        0.9066914335969535,
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+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0165.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0165.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0165.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.7071067811865477,
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
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+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
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+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0166.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0166.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0166.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.7071067811865477,
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+            0.9066914335969535,
+            0.42179455217190914,
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+    ],
+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0167.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0167.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0167.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
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+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0168.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0168.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0168.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0169.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0169.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0169.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0170.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0170.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0170.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
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+        0.7071067811865477,
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+        0.6411276611401581,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0171.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0171.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0171.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            89.47613746064349
+        ],
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0172.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0172.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0172.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.9066914335969535,
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+    "view_matrix": [
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+        0.9066914335969535,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0173.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0173.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0173.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
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+            1.0
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+    ],
+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
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+            0.7071067811865477,
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+        ],
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0174.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0174.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0174.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            0.6411276611401581,
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+            0.7071067811865477,
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
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+    ],
+    "view_matrix": [
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+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0175.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0175.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0175.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+        [
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+            0.9066914335969535,
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+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0176.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0176.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0176.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+        [
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.7071067811865477,
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
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+    ],
+    "view_matrix": [
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0177.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0177.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0177.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
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+    "extrinsic": [
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+            0.9066914335969535,
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+    "view_matrix": [
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+        8.326672684688674e-17,
+        0.9066914335969535,
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+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0178.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0178.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0178.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0179.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0179.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0179.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0180.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0180.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0180.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0181.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0181.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0181.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
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+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0182.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0182.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0182.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            89.47613746064349
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0183.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0183.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0183.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
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+    "view_matrix": [
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+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0184.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0184.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0184.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            0.6411276611401581,
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+            0.7071067811865477,
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+        ],
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0185.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0185.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0185.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
+    ],
+    "view_matrix": [
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0186.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0186.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0186.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
+            0.0,
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+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.9066914335969535,
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+        ]
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+    "view_matrix": [
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0187.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0187.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0187.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
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+        ],
+        [
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+    "extrinsic": [
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+            0.6411276611401581,
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+            0.7071067811865477,
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+            0.9066914335969535,
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+    ],
+    "view_matrix": [
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0188.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0188.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0188.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
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+            640.0
+        ],
+        [
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+            0.9066914335969535,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0189.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0189.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0189.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0190.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0190.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0190.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0191.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0191.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0191.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0192.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0192.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0192.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0193.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0193.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0193.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0194.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0194.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0194.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0195.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0195.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0195.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
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+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0196.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0196.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0196.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0197.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0197.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0197.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
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+            0.7071067811865477,
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+            89.47613746064349
+        ],
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0198.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0198.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0198.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
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+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0199.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0199.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0199.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
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+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            89.47613746064349
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0200.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0200.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0200.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0201.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0201.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0201.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0202.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0202.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0202.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0203.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0203.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0203.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0204.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0204.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0204.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0205.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0205.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0205.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0206.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0206.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0206.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0207.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0207.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0207.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0208.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0208.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0208.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
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+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0209.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0209.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0209.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0210.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0210.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0210.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0211.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0211.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0211.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
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+        [
+            0.0,
+            1108.5125456755613,
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+        [
+            0.0,
+            0.0,
+            1.0
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+    "extrinsic": [
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+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0212.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0212.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0212.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0213.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0213.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0213.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0214.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0214.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0214.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0215.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0215.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0215.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0216.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0216.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0216.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0217.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0217.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0217.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0218.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0218.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0218.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
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+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0219.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0219.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0219.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
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+        0.6411276611401581,
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+        0.9066914335969535,
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+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0220.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0220.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0220.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0221.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0221.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0221.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0222.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0222.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0222.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
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+    "view_matrix": [
+        -0.7071067811865475,
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+        0.9066914335969535,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0223.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0223.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0223.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
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+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0224.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0224.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0224.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0225.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0225.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0225.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0226.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0226.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0226.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0227.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0227.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0227.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
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+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
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+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0228.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0228.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0228.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
+            -0.7071067811865475,
+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
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+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
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+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0229.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0229.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0229.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
+        -0.7071067811865475,
+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
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+        -0.2982537881083,
+        0.6411276611401581,
+        0.0,
+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0230.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0230.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0230.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
+        [
+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
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+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0231.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0231.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0231.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
+            -0.2982537881083,
+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
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+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        -0.2982537881083,
+        0.6411276611401581,
+        -0.0,
+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
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+        0.9066914335969535,
+        0.42179455217190914,
+        -0.0,
+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0232.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0232.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0232.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
+        [
+            0.0,
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+            1.0
+        ]
+    ],
+    "extrinsic": [
+        [
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+            -0.2982537881083,
+            0.6411276611401581,
+            -5.258027502304421e-14
+        ],
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+            0.7071067811865477,
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+            0.6411276611401581,
+            89.47613746064349
+        ],
+        [
+            8.326672684688674e-17,
+            0.9066914335969535,
+            0.42179455217190914,
+            -221.9735813675223
+        ]
+    ],
+    "view_matrix": [
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+        0.6411276611401581,
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+        0.7071067811865477,
+        -0.2982537881083,
+        0.6411276611401581,
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+        8.326672684688674e-17,
+        0.9066914335969535,
+        0.42179455217190914,
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+        -5.258027502304421e-14,
+        89.47613746064349,
+        -221.9735813675223,
+        1.0
+    ],
+    "resolution": [
+        1280,
+        720
+    ]
+}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/camera_parameters/0233.json b/sim_subset/at_rest_newbatch/7/camera_parameters/0233.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d83d3106b4707a499517ebde2ef8120cc82b8
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/camera_parameters/0233.json
@@ -0,0 +1,61 @@
+{
+    "intrinsic": [
+        [
+            1108.5125456755616,
+            0.0,
+            640.0
+        ],
+        [
+            0.0,
+            1108.5125456755613,
+            360.0
+        ],
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diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0039.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0039.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0039.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0040.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0040.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0040.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0041.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0041.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0041.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0042.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0042.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0042.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0043.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0043.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0043.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0044.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0044.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0044.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0045.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0045.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0045.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0046.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0046.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0046.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0047.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0047.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0047.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0048.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0048.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0048.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0049.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0049.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0049.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0050.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0050.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0050.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0051.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0051.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0051.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0052.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0052.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0052.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0053.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0053.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0053.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0054.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0054.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0054.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0055.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0055.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0055.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0056.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0056.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0056.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0057.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0057.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0057.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0058.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0058.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0058.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0059.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0059.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0059.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0060.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0060.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0060.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0061.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0061.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0061.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0062.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0062.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0062.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0063.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0063.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0063.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0064.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0064.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0064.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0065.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0065.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0065.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0066.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0066.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0066.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0067.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0067.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0067.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0068.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0068.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0068.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0069.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0069.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0069.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0070.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0070.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0070.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0071.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0071.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0071.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0072.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0072.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0072.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0073.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0073.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0073.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0074.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0074.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0074.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0075.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0075.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0075.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0076.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0076.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0076.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0077.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0077.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0077.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0078.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0078.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0078.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0079.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0079.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0079.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0080.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0080.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0080.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0081.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0081.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0081.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0082.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0082.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0082.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0083.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0083.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0083.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0084.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0084.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0084.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0085.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0085.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0085.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0086.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0086.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0086.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0087.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0087.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0087.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0088.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0088.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0088.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0089.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0089.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0089.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0090.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0090.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0090.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0091.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0091.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0091.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0092.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0092.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0092.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0093.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0093.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0093.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0094.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0094.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0094.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0095.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0095.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0095.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0096.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0096.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0096.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0097.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0097.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0097.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0098.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0098.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0098.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0099.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0099.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0099.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0100.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0100.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0100.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0101.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0101.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0101.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0102.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0102.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0102.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0103.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0103.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0103.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0104.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0104.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0104.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0105.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0105.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0105.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0106.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0106.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0106.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0107.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0107.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0107.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0108.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0108.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0108.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0109.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0109.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0109.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0110.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0110.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0110.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0111.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0111.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0111.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0112.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0112.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0112.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0113.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0113.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0113.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0114.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0114.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0114.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0115.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0115.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0115.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0116.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0116.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0116.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0117.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0117.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0117.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0118.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0118.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0118.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0119.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0119.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0119.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0120.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0120.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0120.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0121.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0121.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0121.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0122.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0122.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0122.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0123.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0123.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0123.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0124.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0124.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0124.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0125.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0125.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0125.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0126.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0126.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0126.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0127.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0127.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0127.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0128.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0128.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0128.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0129.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0129.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0129.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0130.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0130.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0130.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0131.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0131.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0131.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0132.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0132.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0132.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0133.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0133.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0133.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0134.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0134.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0134.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0135.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0135.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0135.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0136.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0136.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0136.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0137.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0137.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0137.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0138.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0138.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0138.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0139.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0139.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0139.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0140.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0140.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0140.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0141.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0141.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0141.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0142.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0142.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0142.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0143.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0143.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0143.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0144.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0144.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0144.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0145.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0145.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0145.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0146.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0146.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0146.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0147.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0147.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0147.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0148.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0148.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0148.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0149.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0149.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0149.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0150.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0150.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0150.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0151.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0151.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0151.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0152.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0152.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0152.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0153.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0153.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0153.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0154.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0154.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0154.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0155.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0155.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0155.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0156.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0156.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0156.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0157.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0157.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0157.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0158.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0158.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0158.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0159.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0159.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0159.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0160.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0160.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0160.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0161.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0161.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0161.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0162.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0162.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0162.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0163.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0163.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0163.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0164.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0164.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0164.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0165.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0165.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0165.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0166.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0166.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0166.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0167.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0167.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0167.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0168.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0168.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0168.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0169.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0169.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0169.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0170.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0170.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0170.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0171.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0171.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0171.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0172.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0172.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0172.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0173.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0173.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0173.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0174.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0174.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0174.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0175.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0175.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0175.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0176.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0176.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0176.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0177.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0177.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0177.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0178.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0178.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0178.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0179.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0179.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0179.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0180.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0180.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0180.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0181.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0181.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0181.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0182.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0182.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0182.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0183.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0183.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0183.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0184.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0184.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0184.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0185.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0185.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0185.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0186.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0186.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0186.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0187.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0187.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0187.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0188.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0188.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0188.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0189.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0189.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0189.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0190.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0190.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0190.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0191.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0191.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0191.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0192.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0192.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0192.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0193.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0193.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0193.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0194.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0194.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0194.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0195.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0195.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0195.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0196.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0196.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0196.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0197.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0197.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0197.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0198.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0198.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0198.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0199.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0199.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0199.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0200.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0200.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0200.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0201.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0201.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0201.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0202.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0202.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0202.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0203.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0203.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0203.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0204.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0204.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0204.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0205.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0205.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0205.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0206.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0206.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0206.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0207.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0207.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0207.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0208.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0208.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0208.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0209.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0209.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0209.json
@@ -0,0 +1 @@
+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0210.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0210.json
new file mode 100644
index 0000000000000000000000000000000000000000..53167fe6364d60261a7b0f90e53badc37e515837
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0210.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0211.json b/sim_subset/at_rest_newbatch/7/instance_segmentation/mapping_0211.json
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+{"1": "INVALID", "3": "/World/Ground", "2": "/World/OakCube", "4": "/World/CherrySphere"}
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diff --git a/sim_subset/at_rest_newbatch/7/instance_segmentation/maps.npz b/sim_subset/at_rest_newbatch/7/instance_segmentation/maps.npz
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index 0000000000000000000000000000000000000000..de7b6a544c8f897fa85660aa2c38406374ed8c88
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instance_segmentation/maps.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e8d1f9e728ab6c4735cf9bc920320915bb2b605e61d977e898524122331cfb
+size 712037
diff --git a/sim_subset/at_rest_newbatch/7/instantaneous_velocity/mapping.json b/sim_subset/at_rest_newbatch/7/instantaneous_velocity/mapping.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9c458536cf0ff6337034b8ca9d601f19dd41637
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instantaneous_velocity/mapping.json
@@ -0,0 +1,6 @@
+{
+  "1": "INVALID",
+  "3": "/World/Ground",
+  "2": "/World/OakCube",
+  "4": "/World/CherrySphere"
+}
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diff --git a/sim_subset/at_rest_newbatch/7/instantaneous_velocity/mask.npy b/sim_subset/at_rest_newbatch/7/instantaneous_velocity/mask.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bc7ac7835188139959ea66b3b136b88bda4522ac
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instantaneous_velocity/mask.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17b5e77f2968518f8e96051de17e7ea019d5611fac0b6037c4e94dbce1c1c8c2
+size 1843328
diff --git a/sim_subset/at_rest_newbatch/7/instantaneous_velocity/velocity.json b/sim_subset/at_rest_newbatch/7/instantaneous_velocity/velocity.json
new file mode 100644
index 0000000000000000000000000000000000000000..18108d0381f60de93912580461d500c7f29c6e5e
--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/instantaneous_velocity/velocity.json
@@ -0,0 +1,41 @@
+{
+  "time_seconds": 1.0,
+  "labels": [
+    {
+      "prim_path": "/World/OakCube",
+      "speed": 0.0,
+      "label_str": "$v=0.00$",
+      "label_x": 737,
+      "label_y": 295,
+      "label_w": 99,
+      "label_h": 31,
+      "center_2d": [
+        639.5,
+        311.1623682228916
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+      "velocity": [
+        0.0,
+        0.0,
+        0.0
+      ]
+    },
+    {
+      "prim_path": "/World/CherrySphere",
+      "speed": 0.0,
+      "label_str": "$v=0.00$",
+      "label_x": 684,
+      "label_y": 209,
+      "label_w": 99,
+      "label_h": 31,
+      "center_2d": [
+        639.5,
+        224.7005076142132
+      ],
+      "velocity": [
+        0.0,
+        0.0,
+        0.0
+      ]
+    }
+  ]
+}
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diff --git a/sim_subset/at_rest_newbatch/7/instantaneous_velocity/velocity_annotated.png b/sim_subset/at_rest_newbatch/7/instantaneous_velocity/velocity_annotated.png
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index 0000000000000000000000000000000000000000..6ea847f2af94642dee36b2bf94cbe2d8a60760de
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 1040117
diff --git a/sim_subset/at_rest_newbatch/7/mask/maps.npz b/sim_subset/at_rest_newbatch/7/mask/maps.npz
new file mode 100644
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--- /dev/null
+++ b/sim_subset/at_rest_newbatch/7/mask/maps.npz
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+version https://git-lfs.github.com/spec/v1
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+size 1093264
diff --git a/sim_subset/at_rest_newbatch/7/physics_duration.txt b/sim_subset/at_rest_newbatch/7/physics_duration.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f52450b31dc9c15e07168a3a4c2f87750fd0833
--- /dev/null
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+10.0
diff --git a/sim_subset/at_rest_newbatch/7/prompt.txt b/sim_subset/at_rest_newbatch/7/prompt.txt
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+++ b/sim_subset/at_rest_newbatch/7/prompt.txt
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+Simulate a video showing objects in real-time real-world physics remaining at rest based on the provided image. The image layout features coordinates (bottom-left) and environment physics (bottom-right). Unless otherwise specified, all physical quantity annotations follow standard conventions and use the International System of Units (SI). Specifically, g represents vertical gravitational acceleration and F_drag denotes air drag. All objects in the scene are initially at rest and the net external force on each object is always zero throughout the simulation. During the simulation, keep the camera static. The generated video should not include these physical annotations, just the simulation.
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+version https://git-lfs.github.com/spec/v1
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