translation: <float,float,float> -- Position in meters: (x, y, z) with respect to the ego coordinate system. This is typically fixed during the simulation, but we can allow small variation for domain randomization.
rotation: <float,float,float,float> -- Orientation as quaternion: (w, x, y, z) with respect to ego coordinate system. This is typically fixed during the simulation, but we can allow small variation for domain randomization.
camera_intrinsic: <3x3floatmatrix> [optional] -- Intrinsic camera calibration. Empty for sensors that are not cameras.
projection: <string> -- holds the type of projection the camera used for that capture: Options: "perspective" or "orthographic"
# add arbitrary optional key-value pairs for sensor attributes