| { |
| "scenarios": [ |
| { |
| "id": "matterport_05", |
| "scene": { |
| "category": "MP3D", |
| "type": "matterport", |
| "use_matterport": true, |
| "manage_simulation": false, |
| "units_in_meters": 1, |
| "matterport": { |
| "usd_path": "matterport_usd/2t7WUuJeko7/2t7WUuJeko7.usd", |
| "obj_path": "", |
| "root_prim_path": "/World/terrain", |
| "add_ground_plane": true |
| }, |
| "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground." |
| }, |
| "navmesh": { |
| "bake_root_prim_path": "", |
| "include_volume_parent": "/World/NavMesh", |
| "z_padding": 40, |
| "agent_radius": 5, |
| "min_include_volume_size": { |
| "xy": 8.0, |
| "z": 3.0 |
| }, |
| "spawn_min_separation_m": 1.5, |
| "max_step_height": 30 |
| }, |
| "virtual_humans": { |
| "category": "MP3D", |
| "count": 1, |
| "name_sequence": [ |
| "Character" |
| ], |
| "assets": { |
| "Character": "male_adult_construction_03/male_adult_construction_03.usd" |
| }, |
| "asset_root": { |
| "path": "IsaacAssets/People/Characters", |
| "fallback": "" |
| }, |
| "spawn_policy": { |
| "type": "navmesh_random", |
| "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds." |
| }, |
| "spawn_points": [ |
| { |
| "name": "Character", |
| "position": [ |
| 6.35, |
| -1, |
| 0.0 |
| ], |
| "orientation_deg": -90.0 |
| } |
| ], |
| "normalize_on_spawn": false, |
| "move_routes": [ |
| { |
| "name": "Character", |
| "commands": [ |
| "Character LookAround 1.0", |
| "Character GoTo 6.36079 -2.45425 0.0 _", |
| "Character GoTo 8.63262 -3.53846 0.0 _", |
| "Character GoTo 8.36009 -5.30317 0.0 _" |
| ] |
| } |
| ], |
| "vh_gt_waypoints": { |
| "Character": [ |
| { |
| "frame": 8, |
| "xyz": [ |
| 6.349518299102783, |
| -1.0004277229309082, |
| -2.873734063213451e-11 |
| ], |
| "distance_xy": 0.0, |
| "distance_total_xy": 0.0, |
| "time_s": 0.03347280334728033 |
| }, |
| { |
| "frame": 1245, |
| "xyz": [ |
| 6.352646350860596, |
| -1.0521957874298096, |
| 2.1558732576920647e-10 |
| ], |
| "distance_xy": 0.05186248364436441, |
| "distance_total_xy": 0.05186248364436441, |
| "time_s": 5.209205020920502 |
| }, |
| { |
| "frame": 1263, |
| "xyz": [ |
| 6.36319637298584, |
| -1.1039087772369385, |
| -1.1793481746735779e-09 |
| ], |
| "distance_xy": 0.052778179976533474, |
| "distance_total_xy": 0.10464066362089788, |
| "time_s": 5.2845188284518825 |
| }, |
| { |
| "frame": 1283, |
| "xyz": [ |
| 6.369362831115723, |
| -1.1556001901626587, |
| -3.7984895229215e-09 |
| ], |
| "distance_xy": 0.05205792327902557, |
| "distance_total_xy": 0.15669858689992344, |
| "time_s": 5.368200836820083 |
| }, |
| { |
| "frame": 1303, |
| "xyz": [ |
| 6.370067119598389, |
| -1.2070642709732056, |
| -7.594448625525274e-09 |
| ], |
| "distance_xy": 0.051468899696237094, |
| "distance_total_xy": 0.20816748659616052, |
| "time_s": 5.451882845188284 |
| }, |
| { |
| "frame": 1320, |
| "xyz": [ |
| 6.366535186767578, |
| -1.2592706680297852, |
| -1.107958969015499e-08 |
| ], |
| "distance_xy": 0.05232573404311305, |
| "distance_total_xy": 0.26049322063927355, |
| "time_s": 5.523012552301255 |
| }, |
| { |
| "frame": 1334, |
| "xyz": [ |
| 6.363379955291748, |
| -1.3111788034439087, |
| -1.048953013338405e-08 |
| ], |
| "distance_xy": 0.05200394223361393, |
| "distance_total_xy": 0.3124971628728875, |
| "time_s": 5.581589958158995 |
| }, |
| { |
| "frame": 1346, |
| "xyz": [ |
| 6.360651969909668, |
| -1.364213466644287, |
| -1.4490005639800074e-08 |
| ], |
| "distance_xy": 0.053104777610139896, |
| "distance_total_xy": 0.36560194048302735, |
| "time_s": 5.631799163179916 |
| }, |
| { |
| "frame": 1357, |
| "xyz": [ |
| 6.35860013961792, |
| -1.4184154272079468, |
| -1.6427781801553465e-08 |
| ], |
| "distance_xy": 0.05424078296347364, |
| "distance_total_xy": 0.419842723446501, |
| "time_s": 5.677824267782427 |
| }, |
| { |
| "frame": 1367, |
| "xyz": [ |
| 6.354960918426514, |
| -1.4706162214279175, |
| -2.0480543483358815e-08 |
| ], |
| "distance_xy": 0.05232749609981073, |
| "distance_total_xy": 0.4721702195463117, |
| "time_s": 5.719665271966527 |
| }, |
| { |
| "frame": 1377, |
| "xyz": [ |
| 6.342123985290527, |
| -1.5240222215652466, |
| -2.5279604187744553e-08 |
| ], |
| "distance_xy": 0.054927112640354395, |
| "distance_total_xy": 0.5270973321866661, |
| "time_s": 5.7615062761506275 |
| }, |
| { |
| "frame": 1387, |
| "xyz": [ |
| 6.326709747314453, |
| -1.57423996925354, |
| -2.7084366749363653e-08 |
| ], |
| "distance_xy": 0.05253019051239155, |
| "distance_total_xy": 0.5796275226990577, |
| "time_s": 5.8033472803347275 |
| }, |
| { |
| "frame": 1399, |
| "xyz": [ |
| 6.31235408782959, |
| -1.6261416673660278, |
| -3.1434346681180614e-08 |
| ], |
| "distance_xy": 0.05385045242340276, |
| "distance_total_xy": 0.6334779751224605, |
| "time_s": 5.853556485355648 |
| }, |
| { |
| "frame": 1412, |
| "xyz": [ |
| 6.3016438484191895, |
| -1.6751095056533813, |
| -3.309700247200453e-08 |
| ], |
| "distance_xy": 0.05012542682875128, |
| "distance_total_xy": 0.6836034019512118, |
| "time_s": 5.907949790794978 |
| }, |
| { |
| "frame": 1425, |
| "xyz": [ |
| 6.29314661026001, |
| -1.7251356840133667, |
| -3.656147384845099e-08 |
| ], |
| "distance_xy": 0.05074269974724331, |
| "distance_total_xy": 0.7343461016984552, |
| "time_s": 5.962343096234309 |
| }, |
| { |
| "frame": 1438, |
| "xyz": [ |
| 6.285829067230225, |
| -1.7774852514266968, |
| -3.8557640635872303e-08 |
| ], |
| "distance_xy": 0.05285852480305847, |
| "distance_total_xy": 0.7872046265015136, |
| "time_s": 6.01673640167364 |
| }, |
| { |
| "frame": 1450, |
| "xyz": [ |
| 6.284108638763428, |
| -1.8277356624603271, |
| -4.0319779515129994e-08 |
| ], |
| "distance_xy": 0.050279853650922315, |
| "distance_total_xy": 0.8374844801524359, |
| "time_s": 6.06694560669456 |
| }, |
| { |
| "frame": 1462, |
| "xyz": [ |
| 6.284584999084473, |
| -1.8820029497146606, |
| -4.534155095825554e-08 |
| ], |
| "distance_xy": 0.05426937796860964, |
| "distance_total_xy": 0.8917538581210456, |
| "time_s": 6.117154811715481 |
| }, |
| { |
| "frame": 1473, |
| "xyz": [ |
| 6.285794734954834, |
| -1.9343366622924805, |
| -4.7822304338751565e-08 |
| ], |
| "distance_xy": 0.05234769271948761, |
| "distance_total_xy": 0.9441015508405332, |
| "time_s": 6.163179916317991 |
| }, |
| { |
| "frame": 1484, |
| "xyz": [ |
| 6.288490295410156, |
| -1.9864325523376465, |
| -5.1704375891858945e-08 |
| ], |
| "distance_xy": 0.05216558066164245, |
| "distance_total_xy": 0.9962671315021756, |
| "time_s": 6.209205020920502 |
| }, |
| { |
| "frame": 1497, |
| "xyz": [ |
| 6.292095184326172, |
| -2.04001522064209, |
| -5.4894236711788835e-08 |
| ], |
| "distance_xy": 0.0537037947143478, |
| "distance_total_xy": 1.0499709262165233, |
| "time_s": 6.2635983263598325 |
| }, |
| { |
| "frame": 1511, |
| "xyz": [ |
| 6.296405792236328, |
| -2.089850902557373, |
| -5.6843859397304186e-08 |
| ], |
| "distance_xy": 0.05002176058993113, |
| "distance_total_xy": 1.0999926868064545, |
| "time_s": 6.3221757322175725 |
| }, |
| { |
| "frame": 1529, |
| "xyz": [ |
| 6.312746524810791, |
| -2.138364791870117, |
| -6.038394673169023e-08 |
| ], |
| "distance_xy": 0.051191962233531375, |
| "distance_total_xy": 1.1511846490399857, |
| "time_s": 6.397489539748953 |
| }, |
| { |
| "frame": 1556, |
| "xyz": [ |
| 6.338544845581055, |
| -2.1816790103912354, |
| -6.159120857773814e-08 |
| ], |
| "distance_xy": 0.050415026337993656, |
| "distance_total_xy": 1.2015996753779794, |
| "time_s": 6.510460251046024 |
| }, |
| { |
| "frame": 1602, |
| "xyz": [ |
| 6.379966735839844, |
| -2.2104954719543457, |
| -6.103634575538308e-08 |
| ], |
| "distance_xy": 0.05045950306562066, |
| "distance_total_xy": 1.2520591784436002, |
| "time_s": 6.702928870292887 |
| }, |
| { |
| "frame": 1707, |
| "xyz": [ |
| 6.4034857749938965, |
| -2.255247116088867, |
| -5.91982889375231e-08 |
| ], |
| "distance_xy": 0.05055546316148945, |
| "distance_total_xy": 1.3026146416050897, |
| "time_s": 7.142259414225941 |
| }, |
| { |
| "frame": 1737, |
| "xyz": [ |
| 6.407983779907227, |
| -2.306598663330078, |
| -5.729659235953477e-08 |
| ], |
| "distance_xy": 0.05154816633272866, |
| "distance_total_xy": 1.3541628079378183, |
| "time_s": 7.2677824267782425 |
| }, |
| { |
| "frame": 1826, |
| "xyz": [ |
| 6.442430019378662, |
| -2.344024896621704, |
| -5.431584426673908e-08 |
| ], |
| "distance_xy": 0.05086517818825269, |
| "distance_total_xy": 1.405027986126071, |
| "time_s": 7.640167364016736 |
| }, |
| { |
| "frame": 1848, |
| "xyz": [ |
| 6.485402584075928, |
| -2.3720192909240723, |
| -5.260548974206358e-08 |
| ], |
| "distance_xy": 0.05128671786161738, |
| "distance_total_xy": 1.4563147039876885, |
| "time_s": 7.732217573221757 |
| }, |
| { |
| "frame": 1865, |
| "xyz": [ |
| 6.526139259338379, |
| -2.4048542976379395, |
| -5.1863690231357396e-08 |
| ], |
| "distance_xy": 0.0523222168618466, |
| "distance_total_xy": 1.5086369208495352, |
| "time_s": 7.8033472803347275 |
| }, |
| { |
| "frame": 1883, |
| "xyz": [ |
| 6.56518030166626, |
| -2.4397246837615967, |
| -5.3576552971890123e-08 |
| ], |
| "distance_xy": 0.05234641166747088, |
| "distance_total_xy": 1.560983332517006, |
| "time_s": 7.878661087866108 |
| }, |
| { |
| "frame": 1900, |
| "xyz": [ |
| 6.6046857833862305, |
| -2.4752213954925537, |
| -5.350753085053839e-08 |
| ], |
| "distance_xy": 0.053110259175018174, |
| "distance_total_xy": 1.614093591692024, |
| "time_s": 7.949790794979079 |
| }, |
| { |
| "frame": 1913, |
| "xyz": [ |
| 6.64303731918335, |
| -2.5080649852752686, |
| -5.388308466081071e-08 |
| ], |
| "distance_xy": 0.05049298652103044, |
| "distance_total_xy": 1.6645865782130544, |
| "time_s": 8.00418410041841 |
| }, |
| { |
| "frame": 1926, |
| "xyz": [ |
| 6.684047698974609, |
| -2.540618658065796, |
| -5.5074519167419567e-08 |
| ], |
| "distance_xy": 0.05236022214215757, |
| "distance_total_xy": 1.716946800355212, |
| "time_s": 8.05857740585774 |
| }, |
| { |
| "frame": 1940, |
| "xyz": [ |
| 6.723494529724121, |
| -2.572645664215088, |
| -5.662544211304521e-08 |
| ], |
| "distance_xy": 0.05081123477211915, |
| "distance_total_xy": 1.7677580351273312, |
| "time_s": 8.11715481171548 |
| }, |
| { |
| "frame": 1956, |
| "xyz": [ |
| 6.760860443115234, |
| -2.6079816818237305, |
| -5.794355217858538e-08 |
| ], |
| "distance_xy": 0.0514280626116761, |
| "distance_total_xy": 1.8191860977390073, |
| "time_s": 8.184100418410042 |
| }, |
| { |
| "frame": 1974, |
| "xyz": [ |
| 6.797917366027832, |
| -2.6430344581604004, |
| -6.123725881934661e-08 |
| ], |
| "distance_xy": 0.051008946907957355, |
| "distance_total_xy": 1.8701950446469646, |
| "time_s": 8.259414225941422 |
| }, |
| { |
| "frame": 1992, |
| "xyz": [ |
| 6.841191291809082, |
| -2.671717405319214, |
| -6.378844119581117e-08 |
| ], |
| "distance_xy": 0.051916703576367594, |
| "distance_total_xy": 1.9221117482233323, |
| "time_s": 8.334728033472803 |
| }, |
| { |
| "frame": 2007, |
| "xyz": [ |
| 6.885119915008545, |
| -2.69931697845459, |
| -6.694249066185876e-08 |
| ], |
| "distance_xy": 0.05187928655499569, |
| "distance_total_xy": 1.973991034778328, |
| "time_s": 8.397489539748953 |
| }, |
| { |
| "frame": 2020, |
| "xyz": [ |
| 6.931946754455566, |
| -2.726500988006592, |
| -7.076724273247237e-08 |
| ], |
| "distance_xy": 0.05414539008928148, |
| "distance_total_xy": 2.0281364248676095, |
| "time_s": 8.451882845188283 |
| }, |
| { |
| "frame": 2032, |
| "xyz": [ |
| 6.979302406311035, |
| -2.7520806789398193, |
| -7.467224349966273e-08 |
| ], |
| "distance_xy": 0.053822656483081585, |
| "distance_total_xy": 2.081959081350691, |
| "time_s": 8.502092050209205 |
| }, |
| { |
| "frame": 2043, |
| "xyz": [ |
| 7.025651931762695, |
| -2.7767410278320312, |
| -7.80882132289662e-08 |
| ], |
| "distance_xy": 0.05250153633066094, |
| "distance_total_xy": 2.134460617681352, |
| "time_s": 8.548117154811715 |
| }, |
| { |
| "frame": 2053, |
| "xyz": [ |
| 7.071584701538086, |
| -2.801539897918701, |
| -8.141284979501506e-08 |
| ], |
| "distance_xy": 0.052199648435737295, |
| "distance_total_xy": 2.1866602661170895, |
| "time_s": 8.589958158995815 |
| }, |
| { |
| "frame": 2063, |
| "xyz": [ |
| 7.11549186706543, |
| -2.826366662979126, |
| -8.464418499443127e-08 |
| ], |
| "distance_xy": 0.05044013727192952, |
| "distance_total_xy": 2.237100403389019, |
| "time_s": 8.631799163179915 |
| }, |
| { |
| "frame": 2074, |
| "xyz": [ |
| 7.162435054779053, |
| -2.851410388946533, |
| -8.872230949918958e-08 |
| ], |
| "distance_xy": 0.053205742951743816, |
| "distance_total_xy": 2.290306146340763, |
| "time_s": 8.677824267782427 |
| }, |
| { |
| "frame": 2086, |
| "xyz": [ |
| 7.208980083465576, |
| -2.8761157989501953, |
| -9.208952889139255e-08 |
| ], |
| "distance_xy": 0.05269532217264012, |
| "distance_total_xy": 2.343001468513403, |
| "time_s": 8.728033472803347 |
| }, |
| { |
| "frame": 2098, |
| "xyz": [ |
| 7.256017208099365, |
| -2.898505687713623, |
| -9.530831590609523e-08 |
| ], |
| "distance_xy": 0.05209412838941903, |
| "distance_total_xy": 2.395095596902822, |
| "time_s": 8.778242677824267 |
| }, |
| { |
| "frame": 2110, |
| "xyz": [ |
| 7.3034796714782715, |
| -2.9174811840057373, |
| -9.755913765729929e-08 |
| ], |
| "distance_xy": 0.05111511410068512, |
| "distance_total_xy": 2.446210711003507, |
| "time_s": 8.828451882845188 |
| }, |
| { |
| "frame": 2122, |
| "xyz": [ |
| 7.350525379180908, |
| -2.935396909713745, |
| -1.003300340585156e-07 |
| ], |
| "distance_xy": 0.0503415518323234, |
| "distance_total_xy": 2.4965522628358303, |
| "time_s": 8.878661087866108 |
| }, |
| { |
| "frame": 2134, |
| "xyz": [ |
| 7.398787498474121, |
| -2.9524447917938232, |
| -1.0405548067637937e-07 |
| ], |
| "distance_xy": 0.05118459184255122, |
| "distance_total_xy": 2.5477368546783814, |
| "time_s": 8.928870292887028 |
| }, |
| { |
| "frame": 2146, |
| "xyz": [ |
| 7.449354648590088, |
| -2.9696667194366455, |
| -1.0745948486601264e-07 |
| ], |
| "distance_xy": 0.053419392195955644, |
| "distance_total_xy": 2.601156246874337, |
| "time_s": 8.979079497907948 |
| }, |
| { |
| "frame": 2157, |
| "xyz": [ |
| 7.498301029205322, |
| -2.985461711883545, |
| -1.106300970832308e-07 |
| ], |
| "distance_xy": 0.051431799129808796, |
| "distance_total_xy": 2.652588046004146, |
| "time_s": 9.02510460251046 |
| }, |
| { |
| "frame": 2168, |
| "xyz": [ |
| 7.548359394073486, |
| -2.999854564666748, |
| -1.1315014347701435e-07 |
| ], |
| "distance_xy": 0.05208640997912219, |
| "distance_total_xy": 2.7046744559832683, |
| "time_s": 9.07112970711297 |
| }, |
| { |
| "frame": 2179, |
| "xyz": [ |
| 7.599226474761963, |
| -3.0126888751983643, |
| -1.1704085522978858e-07 |
| ], |
| "distance_xy": 0.05246121829113331, |
| "distance_total_xy": 2.7571356742744015, |
| "time_s": 9.11715481171548 |
| }, |
| { |
| "frame": 2189, |
| "xyz": [ |
| 7.650640964508057, |
| -3.024219512939453, |
| -1.2035862084758264e-07 |
| ], |
| "distance_xy": 0.05269160618701429, |
| "distance_total_xy": 2.8098272804614157, |
| "time_s": 9.158995815899582 |
| }, |
| { |
| "frame": 2199, |
| "xyz": [ |
| 7.701348304748535, |
| -3.0343446731567383, |
| -1.2360195000837848e-07 |
| ], |
| "distance_xy": 0.051708347717649476, |
| "distance_total_xy": 2.861535628179065, |
| "time_s": 9.200836820083682 |
| }, |
| { |
| "frame": 2209, |
| "xyz": [ |
| 7.75046443939209, |
| -3.044285774230957, |
| -1.2698394868948526e-07 |
| ], |
| "distance_xy": 0.05011207611835321, |
| "distance_total_xy": 2.9116477042974185, |
| "time_s": 9.242677824267782 |
| }, |
| { |
| "frame": 2220, |
| "xyz": [ |
| 7.800395488739014, |
| -3.0543558597564697, |
| -1.3029698209265916e-07 |
| ], |
| "distance_xy": 0.050936394762253076, |
| "distance_total_xy": 2.9625840990596717, |
| "time_s": 9.288702928870292 |
| }, |
| { |
| "frame": 2232, |
| "xyz": [ |
| 7.850257873535156, |
| -3.0660486221313477, |
| -1.3307118251759675e-07 |
| ], |
| "distance_xy": 0.051215018398063195, |
| "distance_total_xy": 3.0137991174577348, |
| "time_s": 9.338912133891213 |
| }, |
| { |
| "frame": 2245, |
| "xyz": [ |
| 7.901124000549316, |
| -3.081169843673706, |
| -1.3632011075515038e-07 |
| ], |
| "distance_xy": 0.05306613061410976, |
| "distance_total_xy": 3.0668652480718444, |
| "time_s": 9.393305439330543 |
| }, |
| { |
| "frame": 2258, |
| "xyz": [ |
| 7.9514336585998535, |
| -3.0992743968963623, |
| -1.400639177973062e-07 |
| ], |
| "distance_xy": 0.05346808899291208, |
| "distance_total_xy": 3.1203333370647566, |
| "time_s": 9.447698744769873 |
| }, |
| { |
| "frame": 2270, |
| "xyz": [ |
| 7.998828887939453, |
| -3.118995428085327, |
| -1.419878401520691e-07 |
| ], |
| "distance_xy": 0.051334460504707434, |
| "distance_total_xy": 3.171667797569464, |
| "time_s": 9.497907949790795 |
| }, |
| { |
| "frame": 2282, |
| "xyz": [ |
| 8.048465728759766, |
| -3.1405797004699707, |
| -1.4521403102207842e-07 |
| ], |
| "distance_xy": 0.054126673470623776, |
| "distance_total_xy": 3.225794471040088, |
| "time_s": 9.548117154811715 |
| }, |
| { |
| "frame": 2293, |
| "xyz": [ |
| 8.097062110900879, |
| -3.161162853240967, |
| -1.471114643436522e-07 |
| ], |
| "distance_xy": 0.05277570023409711, |
| "distance_total_xy": 3.278570171274185, |
| "time_s": 9.594142259414225 |
| }, |
| { |
| "frame": 2304, |
| "xyz": [ |
| 8.144471168518066, |
| -3.183797597885132, |
| -1.4978193974002352e-07 |
| ], |
| "distance_xy": 0.0525352301722983, |
| "distance_total_xy": 3.331105401446483, |
| "time_s": 9.640167364016735 |
| }, |
| { |
| "frame": 2315, |
| "xyz": [ |
| 8.188661575317383, |
| -3.2074379920959473, |
| -1.5342963877174043e-07 |
| ], |
| "distance_xy": 0.050116467269070604, |
| "distance_total_xy": 3.3812218687155537, |
| "time_s": 9.686192468619247 |
| }, |
| { |
| "frame": 2325, |
| "xyz": [ |
| 8.233556747436523, |
| -3.23354434967041, |
| -1.5603336578351445e-07 |
| ], |
| "distance_xy": 0.051933788475451874, |
| "distance_total_xy": 3.433155657191006, |
| "time_s": 9.728033472803347 |
| }, |
| { |
| "frame": 2335, |
| "xyz": [ |
| 8.279717445373535, |
| -3.2617831230163574, |
| -1.603404200523073e-07 |
| ], |
| "distance_xy": 0.0541131994444592, |
| "distance_total_xy": 3.487268856635465, |
| "time_s": 9.769874476987447 |
| }, |
| { |
| "frame": 2345, |
| "xyz": [ |
| 8.323448181152344, |
| -3.2893757820129395, |
| -1.632567148135422e-07 |
| ], |
| "distance_xy": 0.05170814328766436, |
| "distance_total_xy": 3.5389769999231295, |
| "time_s": 9.811715481171547 |
| }, |
| { |
| "frame": 2356, |
| "xyz": [ |
| 8.367551803588867, |
| -3.3156020641326904, |
| -1.6570798777593154e-07 |
| ], |
| "distance_xy": 0.051312253759196576, |
| "distance_total_xy": 3.590289253682326, |
| "time_s": 9.857740585774058 |
| }, |
| { |
| "frame": 2369, |
| "xyz": [ |
| 8.415643692016602, |
| -3.3393352031707764, |
| -1.692322513235922e-07 |
| ], |
| "distance_xy": 0.0536292049274159, |
| "distance_total_xy": 3.643918458609742, |
| "time_s": 9.912133891213388 |
| }, |
| { |
| "frame": 2382, |
| "xyz": [ |
| 8.462499618530273, |
| -3.359004020690918, |
| -1.719193392091256e-07 |
| ], |
| "distance_xy": 0.050816731812418324, |
| "distance_total_xy": 3.6947351904221604, |
| "time_s": 9.966527196652718 |
| }, |
| { |
| "frame": 2396, |
| "xyz": [ |
| 8.509414672851562, |
| -3.377769708633423, |
| -1.7561191612003313e-07 |
| ], |
| "distance_xy": 0.0505289359271, |
| "distance_total_xy": 3.7452641263492605, |
| "time_s": 10.02510460251046 |
| }, |
| { |
| "frame": 2411, |
| "xyz": [ |
| 8.559911727905273, |
| -3.3956854343414307, |
| -1.7812273256367916e-07 |
| ], |
| "distance_xy": 0.05358102086319451, |
| "distance_total_xy": 3.798845147212455, |
| "time_s": 10.08786610878661 |
| }, |
| { |
| "frame": 2426, |
| "xyz": [ |
| 8.607999801635742, |
| -3.41264009475708, |
| -1.810260670254138e-07 |
| ], |
| "distance_xy": 0.05098944346545653, |
| "distance_total_xy": 3.8498345906779115, |
| "time_s": 10.15062761506276 |
| }, |
| { |
| "frame": 2455, |
| "xyz": [ |
| 8.655935287475586, |
| -3.426863431930542, |
| -1.836249197140205e-07 |
| ], |
| "distance_xy": 0.05000114121749467, |
| "distance_total_xy": 3.899835731895406, |
| "time_s": 10.271966527196652 |
| }, |
| { |
| "frame": 2517, |
| "xyz": [ |
| 8.706669807434082, |
| -3.4228320121765137, |
| -1.8609370044941898e-07 |
| ], |
| "distance_xy": 0.05089443840590255, |
| "distance_total_xy": 3.9507301703013087, |
| "time_s": 10.531380753138075 |
| }, |
| { |
| "frame": 2554, |
| "xyz": [ |
| 8.73742389678955, |
| -3.463654041290283, |
| -1.895798789064429e-07 |
| ], |
| "distance_xy": 0.051110195392402906, |
| "distance_total_xy": 4.001840365693711, |
| "time_s": 10.686192468619247 |
| }, |
| { |
| "frame": 2574, |
| "xyz": [ |
| 8.734055519104004, |
| -3.513770580291748, |
| -1.9233516468375456e-07 |
| ], |
| "distance_xy": 0.050229607302046834, |
| "distance_total_xy": 4.052069972995758, |
| "time_s": 10.769874476987447 |
| }, |
| { |
| "frame": 2590, |
| "xyz": [ |
| 8.718850135803223, |
| -3.564953088760376, |
| -1.9539362483556033e-07 |
| ], |
| "distance_xy": 0.05339337837658193, |
| "distance_total_xy": 4.10546335137234, |
| "time_s": 10.836820083682007 |
| }, |
| { |
| "frame": 2605, |
| "xyz": [ |
| 8.702821731567383, |
| -3.614086389541626, |
| -1.956727260221669e-07 |
| ], |
| "distance_xy": 0.051681631050192973, |
| "distance_total_xy": 4.157144982422533, |
| "time_s": 10.899581589958158 |
| }, |
| { |
| "frame": 2621, |
| "xyz": [ |
| 8.688878059387207, |
| -3.663604974746704, |
| -1.9965062847404624e-07 |
| ], |
| "distance_xy": 0.051444302644518276, |
| "distance_total_xy": 4.208589285067052, |
| "time_s": 10.966527196652718 |
| }, |
| { |
| "frame": 2637, |
| "xyz": [ |
| 8.675966262817383, |
| -3.7143797874450684, |
| -2.0333096983904397e-07 |
| ], |
| "distance_xy": 0.052390801627905034, |
| "distance_total_xy": 4.260980086694957, |
| "time_s": 11.03347280334728 |
| }, |
| { |
| "frame": 2652, |
| "xyz": [ |
| 8.66352367401123, |
| -3.764737367630005, |
| -2.0377281373384903e-07 |
| ], |
| "distance_xy": 0.051871995318103, |
| "distance_total_xy": 4.31285208201306, |
| "time_s": 11.09623430962343 |
| }, |
| { |
| "frame": 2666, |
| "xyz": [ |
| 8.64992618560791, |
| -3.815361261367798, |
| -2.0917018161981105e-07 |
| ], |
| "distance_xy": 0.052418224960921606, |
| "distance_total_xy": 4.365270306973981, |
| "time_s": 11.15481171548117 |
| }, |
| { |
| "frame": 2678, |
| "xyz": [ |
| 8.636456489562988, |
| -3.8638131618499756, |
| -2.1434625807614793e-07 |
| ], |
| "distance_xy": 0.0502893564472388, |
| "distance_total_xy": 4.41555966342122, |
| "time_s": 11.205020920502092 |
| }, |
| { |
| "frame": 2690, |
| "xyz": [ |
| 8.62299633026123, |
| -3.914339065551758, |
| -2.1897240287671593e-07 |
| ], |
| "distance_xy": 0.052288075440873404, |
| "distance_total_xy": 4.467847738862093, |
| "time_s": 11.255230125523012 |
| }, |
| { |
| "frame": 2702, |
| "xyz": [ |
| 8.610786437988281, |
| -3.9659576416015625, |
| -2.251616848525373e-07 |
| ], |
| "distance_xy": 0.053042990703074944, |
| "distance_total_xy": 4.520890729565168, |
| "time_s": 11.305439330543932 |
| }, |
| { |
| "frame": 2713, |
| "xyz": [ |
| 8.600613594055176, |
| -4.017133712768555, |
| -2.2847869729503145e-07 |
| ], |
| "distance_xy": 0.05217736112315733, |
| "distance_total_xy": 4.573068090688325, |
| "time_s": 11.351464435146443 |
| }, |
| { |
| "frame": 2723, |
| "xyz": [ |
| 8.593506813049316, |
| -4.071216106414795, |
| -2.300002250876787e-07 |
| ], |
| "distance_xy": 0.05454733392909437, |
| "distance_total_xy": 4.62761542461742, |
| "time_s": 11.393305439330543 |
| }, |
| { |
| "frame": 2733, |
| "xyz": [ |
| 8.589775085449219, |
| -4.1249213218688965, |
| -2.310700040197844e-07 |
| ], |
| "distance_xy": 0.05383470960126747, |
| "distance_total_xy": 4.681450134218688, |
| "time_s": 11.435146443514643 |
| }, |
| { |
| "frame": 2743, |
| "xyz": [ |
| 8.58646011352539, |
| -4.1750168800354, |
| -2.3328777842834825e-07 |
| ], |
| "distance_xy": 0.05020511913011805, |
| "distance_total_xy": 4.731655253348806, |
| "time_s": 11.476987447698743 |
| }, |
| { |
| "frame": 2754, |
| "xyz": [ |
| 8.582945823669434, |
| -4.22564697265625, |
| -2.3556619055398187e-07 |
| ], |
| "distance_xy": 0.050751911412157596, |
| "distance_total_xy": 4.782407164760963, |
| "time_s": 11.523012552301255 |
| }, |
| { |
| "frame": 2766, |
| "xyz": [ |
| 8.57888126373291, |
| -4.2754902839660645, |
| -2.3455118025594857e-07 |
| ], |
| "distance_xy": 0.050008762530227326, |
| "distance_total_xy": 4.832415927291191, |
| "time_s": 11.573221757322175 |
| }, |
| { |
| "frame": 2779, |
| "xyz": [ |
| 8.570830345153809, |
| -4.327245712280273, |
| -2.3628665246633318e-07 |
| ], |
| "distance_xy": 0.05237787366774779, |
| "distance_total_xy": 4.8847938009589384, |
| "time_s": 11.627615062761505 |
| }, |
| { |
| "frame": 2792, |
| "xyz": [ |
| 8.560745239257812, |
| -4.379020690917969, |
| -2.371130278788769e-07 |
| ], |
| "distance_xy": 0.052748059432241305, |
| "distance_total_xy": 4.93754186039118, |
| "time_s": 11.682008368200837 |
| }, |
| { |
| "frame": 2805, |
| "xyz": [ |
| 8.549347877502441, |
| -4.43136739730835, |
| -2.408531827313709e-07 |
| ], |
| "distance_xy": 0.053573104491932665, |
| "distance_total_xy": 4.991114964883113, |
| "time_s": 11.736401673640167 |
| }, |
| { |
| "frame": 2817, |
| "xyz": [ |
| 8.536667823791504, |
| -4.481753826141357, |
| -2.417079656424903e-07 |
| ], |
| "distance_xy": 0.051957443861837746, |
| "distance_total_xy": 5.04307240874495, |
| "time_s": 11.786610878661087 |
| }, |
| { |
| "frame": 2829, |
| "xyz": [ |
| 8.523515701293945, |
| -4.533211708068848, |
| -2.444409403778991e-07 |
| ], |
| "distance_xy": 0.053112069613735755, |
| "distance_total_xy": 5.096184478358686, |
| "time_s": 11.836820083682007 |
| }, |
| { |
| "frame": 2840, |
| "xyz": [ |
| 8.50951862335205, |
| -4.583352565765381, |
| -2.492164696832333e-07 |
| ], |
| "distance_xy": 0.052057888945437114, |
| "distance_total_xy": 5.148242367304123, |
| "time_s": 11.882845188284518 |
| }, |
| { |
| "frame": 2851, |
| "xyz": [ |
| 8.494328498840332, |
| -4.635210990905762, |
| -2.554977527324809e-07 |
| ], |
| "distance_xy": 0.05403735875042381, |
| "distance_total_xy": 5.202279726054547, |
| "time_s": 11.928870292887028 |
| }, |
| { |
| "frame": 2862, |
| "xyz": [ |
| 8.477456092834473, |
| -4.683710098266602, |
| -2.5980898499256e-07 |
| ], |
| "distance_xy": 0.05135018499698739, |
| "distance_total_xy": 5.253629911051535, |
| "time_s": 11.974895397489538 |
| }, |
| { |
| "frame": 2873, |
| "xyz": [ |
| 8.456658363342285, |
| -4.732585906982422, |
| -2.645076904173038e-07 |
| ], |
| "distance_xy": 0.053116760346011906, |
| "distance_total_xy": 5.306746671397547, |
| "time_s": 12.02092050209205 |
| }, |
| { |
| "frame": 2883, |
| "xyz": [ |
| 8.435392379760742, |
| -4.779150009155273, |
| -2.686473408175516e-07 |
| ], |
| "distance_xy": 0.051190406023533495, |
| "distance_total_xy": 5.35793707742108, |
| "time_s": 12.06276150627615 |
| }, |
| { |
| "frame": 2893, |
| "xyz": [ |
| 8.413409233093262, |
| -4.826072692871094, |
| -2.745931624303921e-07 |
| ], |
| "distance_xy": 0.05181695653450583, |
| "distance_total_xy": 5.409754033955585, |
| "time_s": 12.10460251046025 |
| }, |
| { |
| "frame": 2904, |
| "xyz": [ |
| 8.389396667480469, |
| -4.874192714691162, |
| -2.783430090858019e-07 |
| ], |
| "distance_xy": 0.0537786184953885, |
| "distance_total_xy": 5.463532652450974, |
| "time_s": 12.15062761506276 |
| }, |
| { |
| "frame": 2916, |
| "xyz": [ |
| 8.364218711853027, |
| -4.920714855194092, |
| -2.8275113095332927e-07 |
| ], |
| "distance_xy": 0.05289838378014719, |
| "distance_total_xy": 5.516431036231121, |
| "time_s": 12.200836820083682 |
| }, |
| { |
| "frame": 2930, |
| "xyz": [ |
| 8.343202590942383, |
| -4.967822074890137, |
| -2.84597120980834e-07 |
| ], |
| "distance_xy": 0.05158262775026368, |
| "distance_total_xy": 5.568013663981385, |
| "time_s": 12.259414225941422 |
| }, |
| { |
| "frame": 2947, |
| "xyz": [ |
| 8.336162567138672, |
| -5.02009391784668, |
| -2.8712923949569813e-07 |
| ], |
| "distance_xy": 0.05274379111545081, |
| "distance_total_xy": 5.620757455096836, |
| "time_s": 12.330543933054392 |
| }, |
| { |
| "frame": 2964, |
| "xyz": [ |
| 8.336065292358398, |
| -5.07148551940918, |
| -2.8939317076037696e-07 |
| ], |
| "distance_xy": 0.051391693623985865, |
| "distance_total_xy": 5.6721491487208215, |
| "time_s": 12.401673640167363 |
| }, |
| { |
| "frame": 2980, |
| "xyz": [ |
| 8.337328910827637, |
| -5.12236213684082, |
| -2.9184982963670336e-07 |
| ], |
| "distance_xy": 0.05089230720768433, |
| "distance_total_xy": 5.723041455928506, |
| "time_s": 12.468619246861923 |
| }, |
| { |
| "frame": 2997, |
| "xyz": [ |
| 8.340852737426758, |
| -5.1741437911987305, |
| -2.95096810987161e-07 |
| ], |
| "distance_xy": 0.051901416955057685, |
| "distance_total_xy": 5.774942872883564, |
| "time_s": 12.539748953974895 |
| }, |
| { |
| "frame": 3061, |
| "xyz": [ |
| 8.351964950561523, |
| -5.222902297973633, |
| -2.945677977095329e-07 |
| ], |
| "distance_xy": 0.05000873187425028, |
| "distance_total_xy": 5.824951604757814, |
| "time_s": 12.807531380753137 |
| } |
| ] |
| } |
| }, |
| "robots": { |
| "entries": [ |
| { |
| "type": "h1", |
| "label": "keyboard_h1", |
| "spawn_path": "/h1", |
| "usd_path": "GitCaches/UniNavBench/UniNav/assets/robots/h1/h1.usd", |
| "initial_pose": { |
| "position": [ |
| 7.79, |
| -0.98, |
| 1.08 |
| ], |
| "orientation_deg": 180.0 |
| }, |
| "control": { |
| "mode": "keyboard_move_by_speed", |
| "params": { |
| "base_velocity": 1.0, |
| "base_turn_rate": 2.0 |
| } |
| }, |
| "rb_gt_waypoints": [ |
| { |
| "frame": 8, |
| "xyz": [ |
| 7.790049076080322, |
| -0.980010986328125, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -179.98193482725978, |
| "distance_xy": 0.0, |
| "distance_total_xy": 0.0, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 0.03347280334728033 |
| }, |
| { |
| "frame": 73, |
| "xyz": [ |
| 7.819246292114258, |
| -0.9390580058097839, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -176.54988464522825, |
| "distance_xy": 0.05029536795240617, |
| "distance_total_xy": 0.05029536795240617, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 0.305439330543933 |
| }, |
| { |
| "frame": 125, |
| "xyz": [ |
| 7.840693950653076, |
| -0.8937442302703857, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -174.9065483435833, |
| "distance_xy": 0.05013322561368568, |
| "distance_total_xy": 0.10042859356609185, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 0.5230125523012552 |
| }, |
| { |
| "frame": 185, |
| "xyz": [ |
| 7.8676438331604, |
| -0.8507465124130249, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -174.9407990683341, |
| "distance_xy": 0.050745442239671014, |
| "distance_total_xy": 0.15117403580576286, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 0.7740585774058577 |
| }, |
| { |
| "frame": 288, |
| "xyz": [ |
| 7.89700984954834, |
| -0.8100515604019165, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -174.55987124786205, |
| "distance_xy": 0.050184081516783226, |
| "distance_total_xy": 0.20135811732254608, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 1.2050209205020919 |
| }, |
| { |
| "frame": 435, |
| "xyz": [ |
| 7.8499555587768555, |
| -0.7916567325592041, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -169.9532506848946, |
| "distance_xy": 0.05052203451337275, |
| "distance_total_xy": 0.25188015183591883, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 1.8200836820083681 |
| }, |
| { |
| "frame": 481, |
| "xyz": [ |
| 7.799710750579834, |
| -0.7958849668502808, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -170.60084056052665, |
| "distance_xy": 0.05042240291750993, |
| "distance_total_xy": 0.30230255475342876, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 2.01255230125523 |
| }, |
| { |
| "frame": 517, |
| "xyz": [ |
| 7.749378204345703, |
| -0.7977843880653381, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -169.78057239771138, |
| "distance_xy": 0.050368373126031485, |
| "distance_total_xy": 0.35267092787946025, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 2.1631799163179912 |
| }, |
| { |
| "frame": 557, |
| "xyz": [ |
| 7.699462413787842, |
| -0.7889229655265808, |
| 0.3502981662750244 |
| ], |
| "yaw_deg": -165.04178701699846, |
| "distance_xy": 0.050696261759883975, |
| "distance_total_xy": 0.4033671896393442, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 2.330543933054393 |
| }, |
| { |
| "frame": 601, |
| "xyz": [ |
| 7.649033069610596, |
| -0.7963703274726868, |
| 0.3502981662750244 |
| ], |
| "yaw_deg": -166.42386013819058, |
| "distance_xy": 0.05097628815541057, |
| "distance_total_xy": 0.45434347779475476, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 1.0 |
| }, |
| "time_s": 2.514644351464435 |
| }, |
| { |
| "frame": 652, |
| "xyz": [ |
| 7.616074562072754, |
| -0.8344194293022156, |
| 0.34844455122947693 |
| ], |
| "yaw_deg": -167.32018991146734, |
| "distance_xy": 0.05033882566325745, |
| "distance_total_xy": 0.5046823034580122, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 2.728033472803347 |
| }, |
| { |
| "frame": 699, |
| "xyz": [ |
| 7.600121021270752, |
| -0.8818318247795105, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -168.05024391873107, |
| "distance_xy": 0.05002450108713286, |
| "distance_total_xy": 0.5547068045451451, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 1.0 |
| }, |
| "time_s": 2.924686192468619 |
| }, |
| { |
| "frame": 741, |
| "xyz": [ |
| 7.593563079833984, |
| -0.9319058656692505, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -169.4930907143709, |
| "distance_xy": 0.05050164519018589, |
| "distance_total_xy": 0.6052084497353309, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 3.100418410041841 |
| }, |
| { |
| "frame": 838, |
| "xyz": [ |
| 7.552379131317139, |
| -0.9611021876335144, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -167.206256217772, |
| "distance_xy": 0.0504830945136999, |
| "distance_total_xy": 0.6556915442490309, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 3.5062761506276146 |
| }, |
| { |
| "frame": 886, |
| "xyz": [ |
| 7.503426551818848, |
| -0.9760404825210571, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -166.66621400475128, |
| "distance_xy": 0.051181126342468145, |
| "distance_total_xy": 0.706872670591499, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 3.7071129707112966 |
| }, |
| { |
| "frame": 923, |
| "xyz": [ |
| 7.4535231590271, |
| -0.9871610999107361, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -166.05784871961677, |
| "distance_xy": 0.05112745586526989, |
| "distance_total_xy": 0.758000126456769, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 3.8619246861924683 |
| }, |
| { |
| "frame": 952, |
| "xyz": [ |
| 7.40392541885376, |
| -0.9993681311607361, |
| 0.7473931312561035 |
| ], |
| "yaw_deg": -165.75680922766963, |
| "distance_xy": 0.05107785667234487, |
| "distance_total_xy": 0.8090779831291138, |
| "command": { |
| "v": 0.0, |
| "w": -1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 3.9832635983263596 |
| }, |
| { |
| "frame": 985, |
| "xyz": [ |
| 7.353161334991455, |
| -1.0071860551834106, |
| 0.34844455122947693 |
| ], |
| "yaw_deg": -168.03464726390055, |
| "distance_xy": 0.05136255587880548, |
| "distance_total_xy": 0.8604405390079193, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 4.121338912133891 |
| }, |
| { |
| "frame": 1022, |
| "xyz": [ |
| 7.302545547485352, |
| -1.0108892917633057, |
| 0.34788978099823 |
| ], |
| "yaw_deg": -169.8080866591091, |
| "distance_xy": 0.05075107788047164, |
| "distance_total_xy": 0.9111916168883909, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 4.2761506276150625 |
| }, |
| { |
| "frame": 1067, |
| "xyz": [ |
| 7.252567768096924, |
| -1.0156391859054565, |
| 0.34625184535980225 |
| ], |
| "yaw_deg": -170.84115502288785, |
| "distance_xy": 0.050202987231438644, |
| "distance_total_xy": 0.9613946041198296, |
| "command": { |
| "v": 0.0, |
| "w": -1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 4.464435146443514 |
| }, |
| { |
| "frame": 1145, |
| "xyz": [ |
| 7.202309608459473, |
| -1.0125443935394287, |
| 0.3446103632450104 |
| ], |
| "yaw_deg": -176.67049403997606, |
| "distance_xy": 0.05035335490245263, |
| "distance_total_xy": 1.0117479590222822, |
| "command": { |
| "v": 0.0, |
| "w": -1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 4.7907949790794975 |
| }, |
| { |
| "frame": 1301, |
| "xyz": [ |
| 7.1539998054504395, |
| -0.9980534315109253, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -178.74759586808756, |
| "distance_xy": 0.0504363464902358, |
| "distance_total_xy": 1.062184305512518, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 5.443514644351464 |
| }, |
| { |
| "frame": 1362, |
| "xyz": [ |
| 7.106077194213867, |
| -0.9817609190940857, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -177.22899398820508, |
| "distance_xy": 0.05061642646991701, |
| "distance_total_xy": 1.112800731982435, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 5.698744769874477 |
| }, |
| { |
| "frame": 1401, |
| "xyz": [ |
| 7.055777072906494, |
| -0.9802961945533752, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -176.11846513435006, |
| "distance_xy": 0.05032144295940453, |
| "distance_total_xy": 1.1631221749418394, |
| "command": { |
| "v": 0.0, |
| "w": -1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 5.861924686192468 |
| }, |
| { |
| "frame": 1440, |
| "xyz": [ |
| 7.005188941955566, |
| -0.9782761931419373, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -179.90845724171228, |
| "distance_xy": 0.05062844456242384, |
| "distance_total_xy": 1.2137506195042633, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 6.02510460251046 |
| }, |
| { |
| "frame": 1482, |
| "xyz": [ |
| 6.958992004394531, |
| -0.9575076103210449, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": 179.4275126032035, |
| "distance_xy": 0.05065067691952838, |
| "distance_total_xy": 1.2644012964237916, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 6.200836820083682 |
| }, |
| { |
| "frame": 1529, |
| "xyz": [ |
| 6.916465759277344, |
| -0.9294430613517761, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -171.88456064221998, |
| "distance_xy": 0.05095194238314767, |
| "distance_total_xy": 1.3153532388069393, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 6.397489539748953 |
| }, |
| { |
| "frame": 1581, |
| "xyz": [ |
| 6.875699996948242, |
| -0.8993377089500427, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -164.23244220073323, |
| "distance_xy": 0.05067721008012725, |
| "distance_total_xy": 1.3660304488870665, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 6.615062761506276 |
| }, |
| { |
| "frame": 1632, |
| "xyz": [ |
| 6.832592964172363, |
| -0.8723599910736084, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -155.2095932687602, |
| "distance_xy": 0.050852861635911725, |
| "distance_total_xy": 1.4168833105229781, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 6.8284518828451874 |
| }, |
| { |
| "frame": 1690, |
| "xyz": [ |
| 6.788274765014648, |
| -0.847247302532196, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -141.47378829509927, |
| "distance_xy": 0.050938687678039565, |
| "distance_total_xy": 1.4678219982010177, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 7.07112970711297 |
| }, |
| { |
| "frame": 1756, |
| "xyz": [ |
| 6.742358684539795, |
| -0.8269324898719788, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -127.42507062452549, |
| "distance_xy": 0.050209342353718885, |
| "distance_total_xy": 1.5180313405547365, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 7.347280334728032 |
| }, |
| { |
| "frame": 1869, |
| "xyz": [ |
| 6.69465446472168, |
| -0.8118762969970703, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -101.93569322324515, |
| "distance_xy": 0.050023809654418584, |
| "distance_total_xy": 1.568055150209155, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 7.8200836820083675 |
| }, |
| { |
| "frame": 1937, |
| "xyz": [ |
| 6.691826820373535, |
| -0.8622258901596069, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -100.70912451697252, |
| "distance_xy": 0.050428931221993475, |
| "distance_total_xy": 1.6184840814311485, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 8.10460251046025 |
| }, |
| { |
| "frame": 1978, |
| "xyz": [ |
| 6.684028148651123, |
| -0.9123748540878296, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -100.63258174326867, |
| "distance_xy": 0.05075172769185427, |
| "distance_total_xy": 1.6692358091230028, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 8.276150627615062 |
| }, |
| { |
| "frame": 2008, |
| "xyz": [ |
| 6.675078392028809, |
| -0.9632646441459656, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -100.95896301366942, |
| "distance_xy": 0.05167077390324067, |
| "distance_total_xy": 1.7209065830262436, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 8.401673640167363 |
| }, |
| { |
| "frame": 2035, |
| "xyz": [ |
| 6.656247615814209, |
| -1.0111979246139526, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -102.29031415392373, |
| "distance_xy": 0.051499490378711904, |
| "distance_total_xy": 1.7724060734049554, |
| "command": { |
| "v": 0.0, |
| "w": -1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 8.514644351464435 |
| }, |
| { |
| "frame": 2061, |
| "xyz": [ |
| 6.637614727020264, |
| -1.0577549934387207, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -106.0421965396303, |
| "distance_xy": 0.05014723524145397, |
| "distance_total_xy": 1.8225533086464094, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 8.623430962343095 |
| }, |
| { |
| "frame": 2088, |
| "xyz": [ |
| 6.620976448059082, |
| -1.1054097414016724, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -109.17797328296905, |
| "distance_xy": 0.05047580935658729, |
| "distance_total_xy": 1.8730291180029968, |
| "command": { |
| "v": 0.0, |
| "w": -1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 8.736401673640167 |
| }, |
| { |
| "frame": 2115, |
| "xyz": [ |
| 6.605098724365234, |
| -1.1537433862686157, |
| 0.9677655696868896 |
| ], |
| "yaw_deg": -111.0468709133019, |
| "distance_xy": 0.05087478094126766, |
| "distance_total_xy": 1.9239038989442645, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 8.849372384937238 |
| }, |
| { |
| "frame": 2144, |
| "xyz": [ |
| 6.586358070373535, |
| -1.2015814781188965, |
| 0.9678227305412292 |
| ], |
| "yaw_deg": -111.56373403780924, |
| "distance_xy": 0.05137796360223409, |
| "distance_total_xy": 1.9752818625464985, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 8.970711297071128 |
| }, |
| { |
| "frame": 2180, |
| "xyz": [ |
| 6.562375545501709, |
| -1.2468599081039429, |
| 0.9685239791870117 |
| ], |
| "yaw_deg": -108.43478891117135, |
| "distance_xy": 0.051237659208227974, |
| "distance_total_xy": 2.0265195217547265, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 9.12133891213389 |
| }, |
| { |
| "frame": 2221, |
| "xyz": [ |
| 6.5340118408203125, |
| -1.288573145866394, |
| 0.968870997428894 |
| ], |
| "yaw_deg": -105.48288426001152, |
| "distance_xy": 0.0504429771908861, |
| "distance_total_xy": 2.076962498945613, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 9.292887029288702 |
| }, |
| { |
| "frame": 2271, |
| "xyz": [ |
| 6.502061367034912, |
| -1.3280919790267944, |
| 0.968870997428894 |
| ], |
| "yaw_deg": -101.89723966254667, |
| "distance_xy": 0.05081900185433712, |
| "distance_total_xy": 2.12778150079995, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 9.502092050209205 |
| }, |
| { |
| "frame": 2321, |
| "xyz": [ |
| 6.482146263122559, |
| -1.3743996620178223, |
| 0.7589688897132874 |
| ], |
| "yaw_deg": -98.23057382189538, |
| "distance_xy": 0.05040846028036729, |
| "distance_total_xy": 2.1781899610803173, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 9.711297071129707 |
| }, |
| { |
| "frame": 2363, |
| "xyz": [ |
| 6.4660468101501465, |
| -1.4229873418807983, |
| 0.7589688897132874 |
| ], |
| "yaw_deg": -97.58677355984247, |
| "distance_xy": 0.051185496192554, |
| "distance_total_xy": 2.2293754572728712, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 9.887029288702928 |
| }, |
| { |
| "frame": 2398, |
| "xyz": [ |
| 6.446049690246582, |
| -1.4700981378555298, |
| 0.7583338618278503 |
| ], |
| "yaw_deg": -97.75748623467821, |
| "distance_xy": 0.05117921357162795, |
| "distance_total_xy": 2.280554670844499, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 10.03347280334728 |
| }, |
| { |
| "frame": 2430, |
| "xyz": [ |
| 6.428637981414795, |
| -1.5185654163360596, |
| 0.757240891456604 |
| ], |
| "yaw_deg": -97.74086729890475, |
| "distance_xy": 0.05149994842475242, |
| "distance_total_xy": 2.3320546192692513, |
| "command": { |
| "v": 0.0, |
| "w": -1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 10.167364016736402 |
| }, |
| { |
| "frame": 2461, |
| "xyz": [ |
| 6.411288261413574, |
| -1.5662801265716553, |
| 0.7553330659866333 |
| ], |
| "yaw_deg": -98.6654007340652, |
| "distance_xy": 0.05077111735019842, |
| "distance_total_xy": 2.38282573661945, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 10.297071129707112 |
| }, |
| { |
| "frame": 2488, |
| "xyz": [ |
| 6.391957759857178, |
| -1.6136082410812378, |
| 0.7541460394859314 |
| ], |
| "yaw_deg": -99.44568091441735, |
| "distance_xy": 0.05112356319207419, |
| "distance_total_xy": 2.433949299811524, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 10.410041841004183 |
| }, |
| { |
| "frame": 2513, |
| "xyz": [ |
| 6.376270771026611, |
| -1.6625903844833374, |
| 0.9208430647850037 |
| ], |
| "yaw_deg": -98.51115419090439, |
| "distance_xy": 0.05143279100762631, |
| "distance_total_xy": 2.4853820908191504, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 10.514644351464435 |
| }, |
| { |
| "frame": 2538, |
| "xyz": [ |
| 6.363860607147217, |
| -1.7124801874160767, |
| 0.9208430647850037 |
| ], |
| "yaw_deg": -99.50102137578374, |
| "distance_xy": 0.05141016051502842, |
| "distance_total_xy": 2.536792251334179, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 10.619246861924685 |
| }, |
| { |
| "frame": 2569, |
| "xyz": [ |
| 6.34379243850708, |
| -1.7595700025558472, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -95.22764431834463, |
| "distance_xy": 0.051187714175051094, |
| "distance_total_xy": 2.58797996550923, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 10.748953974895397 |
| }, |
| { |
| "frame": 2601, |
| "xyz": [ |
| 6.326165676116943, |
| -1.8079922199249268, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -89.9941291059957, |
| "distance_xy": 0.05153070819712001, |
| "distance_total_xy": 2.6395106737063503, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 10.882845188284518 |
| }, |
| { |
| "frame": 2635, |
| "xyz": [ |
| 6.310696601867676, |
| -1.8564815521240234, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -86.26773999611807, |
| "distance_xy": 0.05089702933613815, |
| "distance_total_xy": 2.690407703042488, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 11.02510460251046 |
| }, |
| { |
| "frame": 2680, |
| "xyz": [ |
| 6.290398597717285, |
| -1.9030710458755493, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -79.46037440364847, |
| "distance_xy": 0.05081918831025092, |
| "distance_total_xy": 2.7412268913527393, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 11.213389121338912 |
| }, |
| { |
| "frame": 2745, |
| "xyz": [ |
| 6.284737586975098, |
| -1.953189730644226, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -72.65879352263521, |
| "distance_xy": 0.05043738301661927, |
| "distance_total_xy": 2.7916642743693587, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 11.485355648535563 |
| }, |
| { |
| "frame": 2790, |
| "xyz": [ |
| 6.294990062713623, |
| -2.0024585723876953, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -70.61226569748304, |
| "distance_xy": 0.05032426875287974, |
| "distance_total_xy": 2.8419885431222385, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 11.673640167364015 |
| }, |
| { |
| "frame": 2833, |
| "xyz": [ |
| 6.295112133026123, |
| -2.0527029037475586, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -68.6773079049953, |
| "distance_xy": 0.050244479646633165, |
| "distance_total_xy": 2.8922330227688717, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 11.853556485355648 |
| }, |
| { |
| "frame": 2876, |
| "xyz": [ |
| 6.288787364959717, |
| -2.103337526321411, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -62.560918518255235, |
| "distance_xy": 0.05102810690482579, |
| "distance_total_xy": 2.9432611296736977, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 12.03347280334728 |
| }, |
| { |
| "frame": 2922, |
| "xyz": [ |
| 6.283149719238281, |
| -2.153332471847534, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -55.22439929762461, |
| "distance_xy": 0.05031180405670653, |
| "distance_total_xy": 2.993572933730404, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 12.225941422594142 |
| }, |
| { |
| "frame": 2959, |
| "xyz": [ |
| 6.299983024597168, |
| -2.2013168334960938, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -52.50364101310747, |
| "distance_xy": 0.05085134346431055, |
| "distance_total_xy": 3.0444242771947145, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 12.380753138075313 |
| }, |
| { |
| "frame": 2986, |
| "xyz": [ |
| 6.315603733062744, |
| -2.2501776218414307, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -52.18690555043953, |
| "distance_xy": 0.05129700937378645, |
| "distance_total_xy": 3.095721286568501, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 12.493723849372383 |
| }, |
| { |
| "frame": 3008, |
| "xyz": [ |
| 6.349479675292969, |
| -2.289731740951538, |
| 0.929432213306427 |
| ], |
| "yaw_deg": -50.93482238059347, |
| "distance_xy": 0.05207790126879232, |
| "distance_total_xy": 3.1477991878372933, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 12.585774058577405 |
| }, |
| { |
| "frame": 3028, |
| "xyz": [ |
| 6.379096984863281, |
| -2.331153154373169, |
| 0.36078035831451416 |
| ], |
| "yaw_deg": -50.04238444607276, |
| "distance_xy": 0.05092070812576535, |
| "distance_total_xy": 3.1987198959630585, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 12.669456066945605 |
| }, |
| { |
| "frame": 3046, |
| "xyz": [ |
| 6.40436315536499, |
| -2.3751940727233887, |
| 0.3609009385108948 |
| ], |
| "yaw_deg": -50.1131012502482, |
| "distance_xy": 0.05077383047350426, |
| "distance_total_xy": 3.2494937264365626, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 12.744769874476987 |
| }, |
| { |
| "frame": 3062, |
| "xyz": [ |
| 6.436722755432129, |
| -2.4171550273895264, |
| 0.35988640785217285 |
| ], |
| "yaw_deg": -50.394016685905605, |
| "distance_xy": 0.05298929545671299, |
| "distance_total_xy": 3.3024830218932757, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 12.811715481171547 |
| }, |
| { |
| "frame": 3077, |
| "xyz": [ |
| 6.468139171600342, |
| -2.457125186920166, |
| 0.35945478081703186 |
| ], |
| "yaw_deg": -50.56721659242948, |
| "distance_xy": 0.05083900921299639, |
| "distance_total_xy": 3.353322031106272, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 12.874476987447698 |
| }, |
| { |
| "frame": 3091, |
| "xyz": [ |
| 6.496062755584717, |
| -2.4994142055511475, |
| 0.35945478081703186 |
| ], |
| "yaw_deg": -50.57469034654407, |
| "distance_xy": 0.0506763025417595, |
| "distance_total_xy": 3.4039983336480315, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 12.933054393305438 |
| }, |
| { |
| "frame": 3105, |
| "xyz": [ |
| 6.527009010314941, |
| -2.5414817333221436, |
| 0.35945478081703186 |
| ], |
| "yaw_deg": -51.4250787396565, |
| "distance_xy": 0.0522240133903119, |
| "distance_total_xy": 3.4562223470383433, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 12.991631799163178 |
| }, |
| { |
| "frame": 3118, |
| "xyz": [ |
| 6.557028293609619, |
| -2.582073211669922, |
| 0.35945478081703186 |
| ], |
| "yaw_deg": -52.226339130270695, |
| "distance_xy": 0.05048589391091608, |
| "distance_total_xy": 3.5067082409492594, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.04602510460251 |
| }, |
| { |
| "frame": 3131, |
| "xyz": [ |
| 6.585400581359863, |
| -2.6251776218414307, |
| 0.35945478081703186 |
| ], |
| "yaw_deg": -52.08130817672738, |
| "distance_xy": 0.05160403945832462, |
| "distance_total_xy": 3.558312280407584, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.10041841004184 |
| }, |
| { |
| "frame": 3144, |
| "xyz": [ |
| 6.615153789520264, |
| -2.668767213821411, |
| 0.35945478081703186 |
| ], |
| "yaw_deg": -51.72874100429078, |
| "distance_xy": 0.052775997620294154, |
| "distance_total_xy": 3.611088278027878, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.15481171548117 |
| }, |
| { |
| "frame": 3156, |
| "xyz": [ |
| 6.645824909210205, |
| -2.7083632946014404, |
| 0.35945478081703186 |
| ], |
| "yaw_deg": -51.994988563036735, |
| "distance_xy": 0.05008559869037523, |
| "distance_total_xy": 3.6611738767182533, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.205020920502092 |
| }, |
| { |
| "frame": 3168, |
| "xyz": [ |
| 6.67594575881958, |
| -2.749215602874756, |
| 0.35945478081703186 |
| ], |
| "yaw_deg": -51.704819617702164, |
| "distance_xy": 0.050756050599397334, |
| "distance_total_xy": 3.7119299273176507, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.255230125523012 |
| }, |
| { |
| "frame": 3180, |
| "xyz": [ |
| 6.704665184020996, |
| -2.7914559841156006, |
| 0.8345655202865601 |
| ], |
| "yaw_deg": -51.72586785237112, |
| "distance_xy": 0.05107891141431693, |
| "distance_total_xy": 3.7630088387319676, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.305439330543932 |
| }, |
| { |
| "frame": 3192, |
| "xyz": [ |
| 6.734499454498291, |
| -2.8317651748657227, |
| 0.8345655202865601 |
| ], |
| "yaw_deg": -51.89709230817363, |
| "distance_xy": 0.050148923755571444, |
| "distance_total_xy": 3.813157762487539, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.355648535564852 |
| }, |
| { |
| "frame": 3204, |
| "xyz": [ |
| 6.765246391296387, |
| -2.872666358947754, |
| 0.8345655202865601 |
| ], |
| "yaw_deg": -52.56848175245667, |
| "distance_xy": 0.0511691409130376, |
| "distance_total_xy": 3.8643269034005763, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.405857740585773 |
| }, |
| { |
| "frame": 3216, |
| "xyz": [ |
| 6.795225620269775, |
| -2.915463447570801, |
| 0.8345655202865601 |
| ], |
| "yaw_deg": -51.77412288688584, |
| "distance_xy": 0.052252702939157084, |
| "distance_total_xy": 3.9165796063397336, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.456066945606693 |
| }, |
| { |
| "frame": 3228, |
| "xyz": [ |
| 6.826331615447998, |
| -2.9580912590026855, |
| 0.8345655202865601 |
| ], |
| "yaw_deg": -51.24655076827924, |
| "distance_xy": 0.052770382256526596, |
| "distance_total_xy": 3.96934998859626, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.506276150627613 |
| }, |
| { |
| "frame": 3240, |
| "xyz": [ |
| 6.859773635864258, |
| -2.999620199203491, |
| 0.8345655202865601 |
| ], |
| "yaw_deg": -51.78513972751031, |
| "distance_xy": 0.053319992533041746, |
| "distance_total_xy": 4.022669981129302, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.556485355648535 |
| }, |
| { |
| "frame": 3252, |
| "xyz": [ |
| 6.8923540115356445, |
| -3.042470693588257, |
| 0.8345655202865601 |
| ], |
| "yaw_deg": -51.18749105200055, |
| "distance_xy": 0.05382978495134007, |
| "distance_total_xy": 4.076499766080642, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.606694560669455 |
| }, |
| { |
| "frame": 3264, |
| "xyz": [ |
| 6.921893119812012, |
| -3.083552837371826, |
| 0.8345655202865601 |
| ], |
| "yaw_deg": -51.699559163341924, |
| "distance_xy": 0.050599421494882814, |
| "distance_total_xy": 4.127099187575524, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.656903765690375 |
| }, |
| { |
| "frame": 3276, |
| "xyz": [ |
| 6.952882766723633, |
| -3.1233723163604736, |
| 0.8345655202865601 |
| ], |
| "yaw_deg": -53.986345152563565, |
| "distance_xy": 0.05045739908709409, |
| "distance_total_xy": 4.177556586662618, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.707112970711297 |
| }, |
| { |
| "frame": 3288, |
| "xyz": [ |
| 6.985805511474609, |
| -3.162222146987915, |
| 0.8345655202865601 |
| ], |
| "yaw_deg": -55.05421225316011, |
| "distance_xy": 0.050923633626429675, |
| "distance_total_xy": 4.228480220289048, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.757322175732217 |
| }, |
| { |
| "frame": 3301, |
| "xyz": [ |
| 7.016474723815918, |
| -3.203343391418457, |
| 0.8345655202865601 |
| ], |
| "yaw_deg": -54.343462195381804, |
| "distance_xy": 0.0512987068955218, |
| "distance_total_xy": 4.279778927184569, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.811715481171547 |
| }, |
| { |
| "frame": 3313, |
| "xyz": [ |
| 7.0466389656066895, |
| -3.2441110610961914, |
| 0.8346425294876099 |
| ], |
| "yaw_deg": -55.45555868722572, |
| "distance_xy": 0.05071374935621491, |
| "distance_total_xy": 4.330492676540785, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.861924686192468 |
| }, |
| { |
| "frame": 3326, |
| "xyz": [ |
| 7.07887077331543, |
| -3.2866008281707764, |
| 0.8346425294876099 |
| ], |
| "yaw_deg": -55.5523220120023, |
| "distance_xy": 0.05333169539988102, |
| "distance_total_xy": 4.3838243719406655, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.916317991631798 |
| }, |
| { |
| "frame": 3340, |
| "xyz": [ |
| 7.106258392333984, |
| -3.3311097621917725, |
| 0.8346425294876099 |
| ], |
| "yaw_deg": -54.77181470306096, |
| "distance_xy": 0.05226018449250712, |
| "distance_total_xy": 4.436084556433173, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 13.974895397489538 |
| }, |
| { |
| "frame": 3354, |
| "xyz": [ |
| 7.135254859924316, |
| -3.3749866485595703, |
| 0.8346425294876099 |
| ], |
| "yaw_deg": -55.67764910959385, |
| "distance_xy": 0.05259254975802011, |
| "distance_total_xy": 4.488677106191193, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.03347280334728 |
| }, |
| { |
| "frame": 3368, |
| "xyz": [ |
| 7.160437107086182, |
| -3.4184744358062744, |
| 0.8346425294876099 |
| ], |
| "yaw_deg": -54.701291206030035, |
| "distance_xy": 0.050252693576920526, |
| "distance_total_xy": 4.5389297997681135, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.09205020920502 |
| }, |
| { |
| "frame": 3383, |
| "xyz": [ |
| 7.1845598220825195, |
| -3.4638233184814453, |
| 0.8346425294876099 |
| ], |
| "yaw_deg": -55.013687829280634, |
| "distance_xy": 0.05136561630780809, |
| "distance_total_xy": 4.5902954160759215, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.15481171548117 |
| }, |
| { |
| "frame": 3398, |
| "xyz": [ |
| 7.211214065551758, |
| -3.508448362350464, |
| 0.8346425294876099 |
| ], |
| "yaw_deg": -55.350748963415505, |
| "distance_xy": 0.05197925774026849, |
| "distance_total_xy": 4.64227467381619, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.217573221757322 |
| }, |
| { |
| "frame": 3413, |
| "xyz": [ |
| 7.233278274536133, |
| -3.5545318126678467, |
| 0.8346425294876099 |
| ], |
| "yaw_deg": -54.70104141253902, |
| "distance_xy": 0.05109318654440007, |
| "distance_total_xy": 4.69336786036059, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.280334728033472 |
| }, |
| { |
| "frame": 3429, |
| "xyz": [ |
| 7.259771347045898, |
| -3.5993452072143555, |
| 0.8346425294876099 |
| ], |
| "yaw_deg": -55.37016087585969, |
| "distance_xy": 0.052058843838379304, |
| "distance_total_xy": 4.7454267041989695, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.347280334728032 |
| }, |
| { |
| "frame": 3446, |
| "xyz": [ |
| 7.281843662261963, |
| -3.6465632915496826, |
| 0.8346425294876099 |
| ], |
| "yaw_deg": -53.21822536899972, |
| "distance_xy": 0.052122304124965324, |
| "distance_total_xy": 4.7975490083239345, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.418410041841003 |
| }, |
| { |
| "frame": 3464, |
| "xyz": [ |
| 7.303534507751465, |
| -3.69301438331604, |
| 0.8346425294876099 |
| ], |
| "yaw_deg": -51.668153636928096, |
| "distance_xy": 0.051265940977768126, |
| "distance_total_xy": 4.848814949301703, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.493723849372383 |
| }, |
| { |
| "frame": 3482, |
| "xyz": [ |
| 7.325168132781982, |
| -3.738544464111328, |
| -0.015494029968976974 |
| ], |
| "yaw_deg": -48.71628829306687, |
| "distance_xy": 0.05040835237524133, |
| "distance_total_xy": 4.899223301676944, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.569037656903765 |
| }, |
| { |
| "frame": 3501, |
| "xyz": [ |
| 7.3485798835754395, |
| -3.7845752239227295, |
| -0.016195647418498993 |
| ], |
| "yaw_deg": -47.435913962024486, |
| "distance_xy": 0.051642433366659427, |
| "distance_total_xy": 4.950865735043603, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.648535564853555 |
| }, |
| { |
| "frame": 3520, |
| "xyz": [ |
| 7.369811534881592, |
| -3.830746650695801, |
| -0.016025377437472343 |
| ], |
| "yaw_deg": -46.80592888979273, |
| "distance_xy": 0.050819126984307045, |
| "distance_total_xy": 5.00168486202791, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.728033472803347 |
| }, |
| { |
| "frame": 3540, |
| "xyz": [ |
| 7.397515296936035, |
| -3.8742599487304688, |
| -0.015364976599812508 |
| ], |
| "yaw_deg": -47.985855392734706, |
| "distance_xy": 0.05158396589855277, |
| "distance_total_xy": 5.0532688279264635, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.811715481171547 |
| }, |
| { |
| "frame": 3562, |
| "xyz": [ |
| 7.422074794769287, |
| -3.9188425540924072, |
| -0.014650974422693253 |
| ], |
| "yaw_deg": -45.15880096431398, |
| "distance_xy": 0.050899682068553755, |
| "distance_total_xy": 5.104168509995017, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 14.903765690376568 |
| }, |
| { |
| "frame": 3589, |
| "xyz": [ |
| 7.443631172180176, |
| -3.964475631713867, |
| -0.014053143560886383 |
| ], |
| "yaw_deg": -41.874849368574935, |
| "distance_xy": 0.05046835820875156, |
| "distance_total_xy": 5.154636868203769, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 15.016736401673638 |
| }, |
| { |
| "frame": 3616, |
| "xyz": [ |
| 7.4640092849731445, |
| -4.010957717895508, |
| -0.013643700629472733 |
| ], |
| "yaw_deg": -42.29749726765067, |
| "distance_xy": 0.05075285033178356, |
| "distance_total_xy": 5.205389718535553, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 15.12970711297071 |
| }, |
| { |
| "frame": 3649, |
| "xyz": [ |
| 7.480358123779297, |
| -4.058868885040283, |
| -0.01346239261329174 |
| ], |
| "yaw_deg": -40.30784733954975, |
| "distance_xy": 0.05062375398450966, |
| "distance_total_xy": 5.2560134725200625, |
| "command": { |
| "v": -1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 15.267782426778242 |
| }, |
| { |
| "frame": 3698, |
| "xyz": [ |
| 7.484192371368408, |
| -4.1093034744262695, |
| -0.01350866723805666 |
| ], |
| "yaw_deg": -32.95748709074136, |
| "distance_xy": 0.050580127136135695, |
| "distance_total_xy": 5.306593599656198, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 15.472803347280333 |
| }, |
| { |
| "frame": 3781, |
| "xyz": [ |
| 7.482760906219482, |
| -4.1595001220703125, |
| -0.013653730973601341 |
| ], |
| "yaw_deg": -15.08470692770852, |
| "distance_xy": 0.05021705414670193, |
| "distance_total_xy": 5.3568106538029, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 15.820083682008367 |
| }, |
| { |
| "frame": 3908, |
| "xyz": [ |
| 7.496737003326416, |
| -4.208062648773193, |
| -0.013720407150685787 |
| ], |
| "yaw_deg": 14.733334519978104, |
| "distance_xy": 0.05053365502425541, |
| "distance_total_xy": 5.407344308827155, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 16.351464435146443 |
| }, |
| { |
| "frame": 4027, |
| "xyz": [ |
| 7.547280311584473, |
| -4.211057662963867, |
| -0.013630603440105915 |
| ], |
| "yaw_deg": 25.141927432063223, |
| "distance_xy": 0.05063196736915596, |
| "distance_total_xy": 5.457976276196311, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 16.849372384937237 |
| }, |
| { |
| "frame": 4081, |
| "xyz": [ |
| 7.597836494445801, |
| -4.209484577178955, |
| -0.013500873930752277 |
| ], |
| "yaw_deg": 25.23228588530627, |
| "distance_xy": 0.0505806506916898, |
| "distance_total_xy": 5.508556926888001, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 17.07531380753138 |
| }, |
| { |
| "frame": 4131, |
| "xyz": [ |
| 7.646874904632568, |
| -4.199203014373779, |
| -0.013295548036694527 |
| ], |
| "yaw_deg": 25.963708201963637, |
| "distance_xy": 0.05010465255205792, |
| "distance_total_xy": 5.5586615794400585, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 17.28451882845188 |
| }, |
| { |
| "frame": 4174, |
| "xyz": [ |
| 7.6929802894592285, |
| -4.179802894592285, |
| -0.013042284175753593 |
| ], |
| "yaw_deg": 28.577698357862445, |
| "distance_xy": 0.05002070728758985, |
| "distance_total_xy": 5.608682286727649, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 17.464435146443513 |
| }, |
| { |
| "frame": 4223, |
| "xyz": [ |
| 7.742763996124268, |
| -4.1733078956604, |
| -0.012873955070972443 |
| ], |
| "yaw_deg": 34.42208939510133, |
| "distance_xy": 0.05020560188301539, |
| "distance_total_xy": 5.658887888610664, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 17.669456066945607 |
| }, |
| { |
| "frame": 4273, |
| "xyz": [ |
| 7.793285369873047, |
| -4.16748571395874, |
| -0.012682737782597542 |
| ], |
| "yaw_deg": 43.928014802369034, |
| "distance_xy": 0.05085574702264231, |
| "distance_total_xy": 5.7097436356333064, |
| "command": { |
| "v": 0.0, |
| "w": 1.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 17.878661087866107 |
| }, |
| { |
| "frame": 4328, |
| "xyz": [ |
| 7.838104724884033, |
| -4.14401388168335, |
| -0.012257515452802181 |
| ], |
| "yaw_deg": 46.30214316445647, |
| "distance_xy": 0.0505934926049279, |
| "distance_total_xy": 5.760337128238234, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 18.10878661087866 |
| }, |
| { |
| "frame": 4374, |
| "xyz": [ |
| 7.875803470611572, |
| -4.110020637512207, |
| -0.011768527328968048 |
| ], |
| "yaw_deg": 46.48176187527321, |
| "distance_xy": 0.05076156103498555, |
| "distance_total_xy": 5.811098689273219, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 18.30125523012552 |
| }, |
| { |
| "frame": 4423, |
| "xyz": [ |
| 7.9149169921875, |
| -4.0785231590271, |
| -0.011195572093129158 |
| ], |
| "yaw_deg": 46.75624569544712, |
| "distance_xy": 0.050219107130557085, |
| "distance_total_xy": 5.861317796403776, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 18.506276150627613 |
| }, |
| { |
| "frame": 4459, |
| "xyz": [ |
| 7.9527740478515625, |
| -4.044867038726807, |
| -0.010620173998177052 |
| ], |
| "yaw_deg": 47.12015908198981, |
| "distance_xy": 0.050654625625106725, |
| "distance_total_xy": 5.911972422028883, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 18.656903765690377 |
| }, |
| { |
| "frame": 4496, |
| "xyz": [ |
| 7.9893717765808105, |
| -4.008999824523926, |
| -0.00992185901850462 |
| ], |
| "yaw_deg": 47.84280449733364, |
| "distance_xy": 0.05124305614241764, |
| "distance_total_xy": 5.963215478171301, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 18.811715481171547 |
| }, |
| { |
| "frame": 4531, |
| "xyz": [ |
| 8.026681900024414, |
| -3.9754717350006104, |
| -0.008787650614976883 |
| ], |
| "yaw_deg": 47.67141590408579, |
| "distance_xy": 0.05016152009718591, |
| "distance_total_xy": 6.013376998268487, |
| "command": { |
| "v": 1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 18.958158995815896 |
| }, |
| { |
| "frame": 4563, |
| "xyz": [ |
| 8.066221237182617, |
| -3.9426753520965576, |
| -0.007293952628970146 |
| ], |
| "yaw_deg": 46.873537307090054, |
| "distance_xy": 0.05137082746558892, |
| "distance_total_xy": 6.0647478257340754, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 19.09205020920502 |
| }, |
| { |
| "frame": 4592, |
| "xyz": [ |
| 8.107027053833008, |
| -3.912738084793091, |
| -0.005990198347717524 |
| ], |
| "yaw_deg": 47.75620636577319, |
| "distance_xy": 0.05060982756446142, |
| "distance_total_xy": 6.1153576532985365, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 19.21338912133891 |
| }, |
| { |
| "frame": 4627, |
| "xyz": [ |
| 8.149648666381836, |
| -3.8843140602111816, |
| -0.004909147042781115 |
| ], |
| "yaw_deg": 47.91714401429802, |
| "distance_xy": 0.051230137904317616, |
| "distance_total_xy": 6.166587791202854, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 19.359832635983263 |
| }, |
| { |
| "frame": 4664, |
| "xyz": [ |
| 8.193015098571777, |
| -3.8586513996124268, |
| -0.003974404651671648 |
| ], |
| "yaw_deg": 48.50710456378052, |
| "distance_xy": 0.050390669670998346, |
| "distance_total_xy": 6.216978460873852, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 19.514644351464433 |
| }, |
| { |
| "frame": 4703, |
| "xyz": [ |
| 8.230976104736328, |
| -3.8246078491210938, |
| -0.003102406393736601 |
| ], |
| "yaw_deg": 49.576049393180114, |
| "distance_xy": 0.050990208070579614, |
| "distance_total_xy": 6.267968668944432, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 19.677824267782427 |
| }, |
| { |
| "frame": 4765, |
| "xyz": [ |
| 8.276093482971191, |
| -3.8020901679992676, |
| 0.7946592569351196 |
| ], |
| "yaw_deg": 49.80116955097244, |
| "distance_xy": 0.050424436356710636, |
| "distance_total_xy": 6.318393105301142, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 19.937238493723846 |
| }, |
| { |
| "frame": 4976, |
| "xyz": [ |
| 8.321823120117188, |
| -3.8226993083953857, |
| 0.7946592569351196 |
| ], |
| "yaw_deg": 53.05330667987785, |
| "distance_xy": 0.05015911065171885, |
| "distance_total_xy": 6.368552215952861, |
| "command": { |
| "v": -1.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 20.820083682008367 |
| }, |
| { |
| "frame": 5034, |
| "xyz": [ |
| 8.30046272277832, |
| -3.8683769702911377, |
| 0.7946592569351196 |
| ], |
| "yaw_deg": 54.93337261965835, |
| "distance_xy": 0.05042534452769673, |
| "distance_total_xy": 6.418977560480558, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 21.06276150627615 |
| }, |
| { |
| "frame": 5113, |
| "xyz": [ |
| 8.27204418182373, |
| -3.909627914428711, |
| 0.7946592569351196 |
| ], |
| "yaw_deg": 57.368234589059114, |
| "distance_xy": 0.05009245314644601, |
| "distance_total_xy": 6.469070013627004, |
| "command": { |
| "v": 0.0, |
| "w": 0.0, |
| "lateral": 0.0 |
| }, |
| "time_s": 21.393305439330543 |
| } |
| ] |
| } |
| ] |
| }, |
| "task": { |
| "navigation": { |
| "instruction": "Follow the person in front of you until he stops at the door, then turn around and walk to the trash can.", |
| "goal_position": [ |
| 8.27204418182373, |
| -3.909627914428711, |
| 0.7946592569351196 |
| ], |
| "success_radius": 0.1, |
| "objects": { |
| "trash can": [ |
| 8.80456, |
| -3.09238, |
| 0.10792 |
| ], |
| "door": [ |
| 8.0, |
| -3.5, |
| 0.0 |
| ] |
| }, |
| "room_zone": {}, |
| "answer": " " |
| }, |
| "subtasks": [ |
| { |
| "type": "FOLLOW_HUMAN", |
| "human_id": "Character", |
| "until_object_id": "door" |
| }, |
| { |
| "type": "GOTO_LANDMARK", |
| "object_id": "trash can" |
| } |
| ], |
| "qa": null, |
| "pending_annotations": [], |
| "sub_instructions": [ |
| { |
| "step": 0, |
| "type": "FOLLOW", |
| "text": "Follow the person in front of you until he stops at the door" |
| }, |
| { |
| "step": 1, |
| "type": "VLN", |
| "text": "Turn around and walk to the trash can" |
| } |
| ] |
| } |
| } |
| ] |
| } |
