{
  "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": [
              6.78,
              -3.31,
              0.0
            ],
            "orientation_deg": 180.0
          }
        ],
        "normalize_on_spawn": false,
        "move_routes": [
          {
            "name": "Character",
            "commands": [
              "Character GoTo 6.27 -1.73 0.0 _",
              "Character Idle 1.0",
              "Character GoTo 5.84 -0.36 0.0 _"
            ]
          }
        ],
        "vh_gt_waypoints": {
          "Character": [
            {
              "frame": 8,
              "xyz": [
                6.779573440551758,
                -3.3095171451568604,
                -2.8737342366857987e-11
              ],
              "distance_xy": 0.0,
              "distance_total_xy": 0.0,
              "time_s": 0.03347280334728033
            },
            {
              "frame": 1505,
              "xyz": [
                6.768731594085693,
                -3.259230136871338,
                -3.2701881202967797e-09
              ],
              "distance_xy": 0.05144248086068477,
              "distance_total_xy": 0.05144248086068477,
              "time_s": 6.2970711297071125
            },
            {
              "frame": 1524,
              "xyz": [
                6.7502312660217285,
                -3.2097277641296387,
                -7.737241958238883e-09
              ],
              "distance_xy": 0.05284644780429855,
              "distance_total_xy": 0.10428892866498332,
              "time_s": 6.376569037656903
            },
            {
              "frame": 1540,
              "xyz": [
                6.726407527923584,
                -3.1626927852630615,
                -1.101327118391282e-08
              ],
              "distance_xy": 0.052724375140425724,
              "distance_total_xy": 0.15701330380540904,
              "time_s": 6.443514644351464
            },
            {
              "frame": 1554,
              "xyz": [
                6.7014970779418945,
                -3.1158254146575928,
                -1.589676479341051e-08
              ],
              "distance_xy": 0.05307618058753482,
              "distance_total_xy": 0.21008948439294386,
              "time_s": 6.502092050209204
            },
            {
              "frame": 1566,
              "xyz": [
                6.679261207580566,
                -3.070786714553833,
                -2.0648931453592922e-08
              ],
              "distance_xy": 0.050228661516729674,
              "distance_total_xy": 0.26031814590967356,
              "time_s": 6.552301255230125
            },
            {
              "frame": 1579,
              "xyz": [
                6.657853603363037,
                -3.0250768661499023,
                -2.5215749488438632e-08
              ],
              "distance_xy": 0.050474506034677555,
              "distance_total_xy": 0.31079265194435113,
              "time_s": 6.606694560669456
            },
            {
              "frame": 1593,
              "xyz": [
                6.638743877410889,
                -2.9772796630859375,
                -2.646496355396266e-08
              ],
              "distance_xy": 0.05147576368257304,
              "distance_total_xy": 0.3622684156269242,
              "time_s": 6.665271966527196
            },
            {
              "frame": 1607,
              "xyz": [
                6.621338844299316,
                -2.928469657897949,
                -2.728335424251327e-08
              ],
              "distance_xy": 0.05182038000696608,
              "distance_total_xy": 0.4140887956338903,
              "time_s": 6.723849372384937
            },
            {
              "frame": 1621,
              "xyz": [
                6.6038432121276855,
                -2.879281520843506,
                -2.653480990488788e-08
              ],
              "distance_xy": 0.05220699160047156,
              "distance_total_xy": 0.4662957872343618,
              "time_s": 6.7824267782426775
            },
            {
              "frame": 1634,
              "xyz": [
                6.586892604827881,
                -2.8315393924713135,
                -2.7509740263553795e-08
              ],
              "distance_xy": 0.050661957219782665,
              "distance_total_xy": 0.5169577444541444,
              "time_s": 6.836820083682007
            },
            {
              "frame": 1647,
              "xyz": [
                6.569753170013428,
                -2.7802481651306152,
                -2.7099055444068654e-08
              ],
              "distance_xy": 0.054079110827324806,
              "distance_total_xy": 0.5710368552814693,
              "time_s": 6.891213389121338
            },
            {
              "frame": 1659,
              "xyz": [
                6.553654670715332,
                -2.7282514572143555,
                -3.1247811449475194e-08
              ],
              "distance_xy": 0.054431785877184106,
              "distance_total_xy": 0.6254686411586534,
              "time_s": 6.941422594142259
            },
            {
              "frame": 1670,
              "xyz": [
                6.5406084060668945,
                -2.6787049770355225,
                -3.202261211754376e-08
              ],
              "distance_xy": 0.0512353268691492,
              "distance_total_xy": 0.6767039680278026,
              "time_s": 6.987447698744769
            },
            {
              "frame": 1681,
              "xyz": [
                6.5287933349609375,
                -2.626535177230835,
                -3.83689737759596e-08
              ],
              "distance_xy": 0.053490970423988315,
              "distance_total_xy": 0.730194938451791,
              "time_s": 7.03347280334728
            },
            {
              "frame": 1691,
              "xyz": [
                6.518350124359131,
                -2.574578285217285,
                -3.741050491612441e-08
              ],
              "distance_xy": 0.0529960307511927,
              "distance_total_xy": 0.7831909692029837,
              "time_s": 7.07531380753138
            },
            {
              "frame": 1701,
              "xyz": [
                6.509507179260254,
                -2.52288818359375,
                -3.912788670845657e-08
              ],
              "distance_xy": 0.05244105532760705,
              "distance_total_xy": 0.8356320245305907,
              "time_s": 7.117154811715481
            },
            {
              "frame": 1712,
              "xyz": [
                6.501694679260254,
                -2.4701712131500244,
                -3.8157576653929937e-08
              ],
              "distance_xy": 0.05329272116353825,
              "distance_total_xy": 0.8889247456941289,
              "time_s": 7.163179916317991
            },
            {
              "frame": 1724,
              "xyz": [
                6.4942626953125,
                -2.4188365936279297,
                -4.344864734662224e-08
              ],
              "distance_xy": 0.051869813445566786,
              "distance_total_xy": 0.9407945591396957,
              "time_s": 7.213389121338912
            },
            {
              "frame": 1737,
              "xyz": [
                6.4836649894714355,
                -2.3687949180603027,
                -4.782249263257654e-08
              ],
              "distance_xy": 0.051151546044175086,
              "distance_total_xy": 0.9919461051838707,
              "time_s": 7.2677824267782425
            },
            {
              "frame": 1750,
              "xyz": [
                6.470341205596924,
                -2.320256233215332,
                -4.8539039454453814e-08
              ],
              "distance_xy": 0.05033415483758605,
              "distance_total_xy": 1.0422802600214567,
              "time_s": 7.3221757322175725
            },
            {
              "frame": 1764,
              "xyz": [
                6.454353332519531,
                -2.2695250511169434,
                -4.852749668771139e-08
              ],
              "distance_xy": 0.05319083494962911,
              "distance_total_xy": 1.0954710949710857,
              "time_s": 7.380753138075313
            },
            {
              "frame": 1777,
              "xyz": [
                6.4371018409729,
                -2.2215499877929688,
                -4.8161933108303856e-08
              ],
              "distance_xy": 0.05098255252066975,
              "distance_total_xy": 1.1464536474917555,
              "time_s": 7.435146443514644
            },
            {
              "frame": 1790,
              "xyz": [
                6.41874885559082,
                -2.1707730293273926,
                -5.1153239866152944e-08
              ],
              "distance_xy": 0.05399195850726007,
              "distance_total_xy": 1.2004456059990156,
              "time_s": 7.489539748953974
            },
            {
              "frame": 1802,
              "xyz": [
                6.400754928588867,
                -2.1223630905151367,
                -5.6045912799618236e-08
              ],
              "distance_xy": 0.05164594451414335,
              "distance_total_xy": 1.252091550513159,
              "time_s": 7.539748953974895
            },
            {
              "frame": 1814,
              "xyz": [
                6.3794403076171875,
                -2.0765187740325928,
                -6.039552857828312e-08
              ],
              "distance_xy": 0.05055704125953197,
              "distance_total_xy": 1.3026485917726909,
              "time_s": 7.589958158995815
            },
            {
              "frame": 1826,
              "xyz": [
                6.355231761932373,
                -2.0306236743927,
                -6.433746335687829e-08
              ],
              "distance_xy": 0.051888475166740215,
              "distance_total_xy": 1.354537066939431,
              "time_s": 7.640167364016736
            },
            {
              "frame": 1837,
              "xyz": [
                6.330733299255371,
                -1.986156702041626,
                -6.865408153089447e-08
              ],
              "distance_xy": 0.050768950192097304,
              "distance_total_xy": 1.4053060171315284,
              "time_s": 7.686192468619246
            },
            {
              "frame": 1849,
              "xyz": [
                6.305080413818359,
                -1.940988302230835,
                -7.258921641550842e-08
              ],
              "distance_xy": 0.05194472901760017,
              "distance_total_xy": 1.4572507461491286,
              "time_s": 7.736401673640167
            },
            {
              "frame": 1862,
              "xyz": [
                6.2794365882873535,
                -1.897473931312561,
                -7.643932775636131e-08
              ],
              "distance_xy": 0.050508477152630446,
              "distance_total_xy": 1.5077592233017592,
              "time_s": 7.7907949790794975
            },
            {
              "frame": 1879,
              "xyz": [
                6.254420280456543,
                -1.8530306816101074,
                -8.034065501760779e-08
              ],
              "distance_xy": 0.05100017746636296,
              "distance_total_xy": 1.558759400768122,
              "time_s": 7.861924686192468
            },
            {
              "frame": 2194,
              "xyz": [
                6.241201877593994,
                -1.8043086528778076,
                -8.300708032038528e-08
              ],
              "distance_xy": 0.050483286917827434,
              "distance_total_xy": 1.6092426876859494,
              "time_s": 9.179916317991632
            },
            {
              "frame": 2256,
              "xyz": [
                6.265664100646973,
                -1.7598340511322021,
                -8.352665048505514e-08
              ],
              "distance_xy": 0.050758157542644185,
              "distance_total_xy": 1.6600008452285935,
              "time_s": 9.439330543933053
            },
            {
              "frame": 2310,
              "xyz": [
                6.288570404052734,
                -1.71435546875,
                -8.49355927812212e-08
              ],
              "distance_xy": 0.05092151010340874,
              "distance_total_xy": 1.7109223553320023,
              "time_s": 9.665271966527197
            },
            {
              "frame": 2340,
              "xyz": [
                6.277629852294922,
                -1.6638375520706177,
                -8.687030828014031e-08
              ],
              "distance_xy": 0.05168902764020996,
              "distance_total_xy": 1.7626113829722123,
              "time_s": 9.790794979079497
            },
            {
              "frame": 2360,
              "xyz": [
                6.261595249176025,
                -1.614565372467041,
                -8.791623429260653e-08
              ],
              "distance_xy": 0.0518155978453172,
              "distance_total_xy": 1.8144269808175295,
              "time_s": 9.874476987447698
            },
            {
              "frame": 2376,
              "xyz": [
                6.243651866912842,
                -1.565597653388977,
                -8.761628578213276e-08
              ],
              "distance_xy": 0.052151725558709186,
              "distance_total_xy": 1.8665787063762387,
              "time_s": 9.941422594142258
            },
            {
              "frame": 2391,
              "xyz": [
                6.224881649017334,
                -1.515381097793579,
                -8.876317281192314e-08
              ],
              "distance_xy": 0.05360992012408277,
              "distance_total_xy": 1.9201886265003214,
              "time_s": 10.00418410041841
            },
            {
              "frame": 2404,
              "xyz": [
                6.203577995300293,
                -1.4678887128829956,
                -9.025497860193354e-08
              ],
              "distance_xy": 0.052051630965711485,
              "distance_total_xy": 1.972240257466033,
              "time_s": 10.05857740585774
            },
            {
              "frame": 2415,
              "xyz": [
                6.1798505783081055,
                -1.422766089439392,
                -9.187935035015471e-08
              ],
              "distance_xy": 0.05098079504631509,
              "distance_total_xy": 2.023221052512348,
              "time_s": 10.10460251046025
            },
            {
              "frame": 2426,
              "xyz": [
                6.155245304107666,
                -1.3758186101913452,
                -9.634956654736015e-08
              ],
              "distance_xy": 0.05300457835154057,
              "distance_total_xy": 2.0762256308638887,
              "time_s": 10.15062761506276
            },
            {
              "frame": 2436,
              "xyz": [
                6.133010387420654,
                -1.3309423923492432,
                -9.930410271863366e-08
              ],
              "distance_xy": 0.050082596257484,
              "distance_total_xy": 2.1263082271213727,
              "time_s": 10.192468619246862
            },
            {
              "frame": 2447,
              "xyz": [
                6.111078262329102,
                -1.2848788499832153,
                -1.0005323503037289e-07
              ],
              "distance_xy": 0.05101831089264283,
              "distance_total_xy": 2.1773265380140154,
              "time_s": 10.238493723849372
            },
            {
              "frame": 2459,
              "xyz": [
                6.086008548736572,
                -1.237350344657898,
                -1.0048878351653912e-07
              ],
              "distance_xy": 0.053734991933284695,
              "distance_total_xy": 2.2310615299473002,
              "time_s": 10.288702928870292
            },
            {
              "frame": 2471,
              "xyz": [
                6.063941478729248,
                -1.1920750141143799,
                -1.0346239065484042e-07
              ],
              "distance_xy": 0.05036676617108714,
              "distance_total_xy": 2.281428296118387,
              "time_s": 10.338912133891213
            },
            {
              "frame": 2483,
              "xyz": [
                6.043748378753662,
                -1.1451581716537476,
                -1.0468052380474546e-07
              ],
              "distance_xy": 0.05107789534720279,
              "distance_total_xy": 2.33250619146559,
              "time_s": 10.389121338912133
            },
            {
              "frame": 2496,
              "xyz": [
                6.023933410644531,
                -1.0955851078033447,
                -1.0468245648098673e-07
              ],
              "distance_xy": 0.053386530330056,
              "distance_total_xy": 2.385892721795646,
              "time_s": 10.443514644351463
            },
            {
              "frame": 2508,
              "xyz": [
                6.007540702819824,
                -1.047968864440918,
                -1.0677599249220293e-07
              ],
              "distance_xy": 0.05035898630608108,
              "distance_total_xy": 2.436251708101727,
              "time_s": 10.493723849372383
            },
            {
              "frame": 2520,
              "xyz": [
                5.991499900817871,
                -0.99822998046875,
                -1.1034397573439492e-07
              ],
              "distance_xy": 0.052261495459493414,
              "distance_total_xy": 2.4885132035612205,
              "time_s": 10.543933054393305
            },
            {
              "frame": 2532,
              "xyz": [
                5.972560405731201,
                -0.949201762676239,
                -1.1301970914701087e-07
              ],
              "distance_xy": 0.052559210553887556,
              "distance_total_xy": 2.541072414115108,
              "time_s": 10.594142259414225
            },
            {
              "frame": 2544,
              "xyz": [
                5.953510761260986,
                -0.8990601301193237,
                -1.1575866665225476e-07
              ],
              "distance_xy": 0.05363834700952569,
              "distance_total_xy": 2.594710761124634,
              "time_s": 10.644351464435145
            },
            {
              "frame": 2556,
              "xyz": [
                5.935727119445801,
                -0.8489091396331787,
                -1.2028964135879505e-07
              ],
              "distance_xy": 0.05321071097957839,
              "distance_total_xy": 2.6479214721042124,
              "time_s": 10.694560669456067
            },
            {
              "frame": 2567,
              "xyz": [
                5.920494079589844,
                -0.798212468624115,
                -1.2162958284989145e-07
              ],
              "distance_xy": 0.052935790866430035,
              "distance_total_xy": 2.700857262970642,
              "time_s": 10.740585774058577
            },
            {
              "frame": 2578,
              "xyz": [
                5.909710884094238,
                -0.7457495927810669,
                -1.2390697179398558e-07
              ],
              "distance_xy": 0.0535595990166051,
              "distance_total_xy": 2.7544168619872473,
              "time_s": 10.786610878661087
            },
            {
              "frame": 2589,
              "xyz": [
                5.901465892791748,
                -0.6945359706878662,
                -1.2562313145281223e-07
              ],
              "distance_xy": 0.05187306593486944,
              "distance_total_xy": 2.806289927922117,
              "time_s": 10.832635983263597
            },
            {
              "frame": 2602,
              "xyz": [
                5.893737316131592,
                -0.6420841813087463,
                -1.301251018048788e-07
              ],
              "distance_xy": 0.05301812054631382,
              "distance_total_xy": 2.8593080484684306,
              "time_s": 10.887029288702928
            },
            {
              "frame": 2616,
              "xyz": [
                5.884201526641846,
                -0.5899736285209656,
                -1.296400284900301e-07
              ],
              "distance_xy": 0.05297585292414684,
              "distance_total_xy": 2.9122839013925774,
              "time_s": 10.945606694560668
            },
            {
              "frame": 2630,
              "xyz": [
                5.87255859375,
                -0.5403063893318176,
                -1.331319765540684e-07
              ],
              "distance_xy": 0.05101365047706404,
              "distance_total_xy": 2.9632975518696414,
              "time_s": 11.004184100418408
            },
            {
              "frame": 2645,
              "xyz": [
                5.857380390167236,
                -0.48997804522514343,
                -1.3425577094494656e-07
              ],
              "distance_xy": 0.052567291013705726,
              "distance_total_xy": 3.015864842883347,
              "time_s": 11.06694560669456
            },
            {
              "frame": 2665,
              "xyz": [
                5.840264320373535,
                -0.44262227416038513,
                -1.3574047841302672e-07
              ],
              "distance_xy": 0.05035403557134869,
              "distance_total_xy": 3.0662188784546958,
              "time_s": 11.15062761506276
            }
          ]
        }
      },
      "robots": {
        "entries": [
          {
            "type": "h1",
            "label": "keyboard_h1",
            "spawn_path": "/h1",
            "usd_path": "GitCaches/UniNavBench/UniNav/assets/robots/h1/h1.usd",
            "initial_pose": {
              "position": [
                6.9,
                -4.59,
                1.08
              ],
              "orientation_deg": 90.0
            },
            "control": {
              "mode": "keyboard_move_by_speed",
              "params": {
                "base_velocity": 1.0,
                "base_turn_rate": 2.0
              }
            },
            "rb_gt_waypoints": [
              {
                "frame": 8,
                "xyz": [
                  6.899987697601318,
                  -4.5900492668151855,
                  0.92707359790802
                ],
                "yaw_deg": 90.01807267779006,
                "distance_xy": 0.0,
                "distance_total_xy": 0.0,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 0.03347280334728033
              },
              {
                "frame": 89,
                "xyz": [
                  6.9467644691467285,
                  -4.608068943023682,
                  0.92707359790802
                ],
                "yaw_deg": 93.04258052764962,
                "distance_xy": 0.050127588081519875,
                "distance_total_xy": 0.050127588081519875,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 0.3723849372384937
              },
              {
                "frame": 163,
                "xyz": [
                  6.9915571212768555,
                  -4.585047721862793,
                  0.9271007776260376
                ],
                "yaw_deg": 96.8200382870537,
                "distance_xy": 0.05036227068539618,
                "distance_total_xy": 0.10048985876691605,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 0.6820083682008368
              },
              {
                "frame": 231,
                "xyz": [
                  7.020010948181152,
                  -4.543529033660889,
                  0.9271601438522339
                ],
                "yaw_deg": 98.74239914838343,
                "distance_xy": 0.05033310774735289,
                "distance_total_xy": 0.15082296651426894,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 0.9665271966527196
              },
              {
                "frame": 326,
                "xyz": [
                  7.03887939453125,
                  -4.497098445892334,
                  0.9271761178970337
                ],
                "yaw_deg": 99.4963186147844,
                "distance_xy": 0.05011803815194659,
                "distance_total_xy": 0.20094100466621553,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 1.3640167364016735
              },
              {
                "frame": 426,
                "xyz": [
                  7.048605442047119,
                  -4.447794437408447,
                  0.9271761178970337
                ],
                "yaw_deg": 99.89245499239776,
                "distance_xy": 0.05025416652239014,
                "distance_total_xy": 0.2511951711886057,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 1.7824267782426777
              },
              {
                "frame": 477,
                "xyz": [
                  7.04310941696167,
                  -4.398055076599121,
                  0.9271761178970337
                ],
                "yaw_deg": 98.91120923500118,
                "distance_xy": 0.05004208534284137,
                "distance_total_xy": 0.30123725653144706,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 1.9958158995815898
              },
              {
                "frame": 518,
                "xyz": [
                  7.047443389892578,
                  -4.347927093505859,
                  0.9271761178970337
                ],
                "yaw_deg": 99.84247840407114,
                "distance_xy": 0.050314987929683315,
                "distance_total_xy": 0.35155224446113037,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 2.1673640167364017
              },
              {
                "frame": 559,
                "xyz": [
                  7.057946681976318,
                  -4.298938751220703,
                  0.9271761178970337
                ],
                "yaw_deg": 100.95883219105504,
                "distance_xy": 0.0501016648869475,
                "distance_total_xy": 0.4016539093480779,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 2.3389121338912133
              },
              {
                "frame": 603,
                "xyz": [
                  7.065755844116211,
                  -4.249330520629883,
                  -0.014567962847650051
                ],
                "yaw_deg": 103.03244703411967,
                "distance_xy": 0.050219115441026356,
                "distance_total_xy": 0.45187302478910424,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 2.523012552301255
              },
              {
                "frame": 664,
                "xyz": [
                  7.078618049621582,
                  -4.200778961181641,
                  -0.014808867126703262
                ],
                "yaw_deg": 107.00977007912253,
                "distance_xy": 0.05022639002873483,
                "distance_total_xy": 0.502099414817839,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 2.7782426778242675
              },
              {
                "frame": 776,
                "xyz": [
                  7.082071304321289,
                  -4.1508259773254395,
                  -0.015237872488796711
                ],
                "yaw_deg": 107.34717794340693,
                "distance_xy": 0.05007220350812358,
                "distance_total_xy": 0.5521716183259626,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 3.246861924686192
              },
              {
                "frame": 905,
                "xyz": [
                  7.081834316253662,
                  -4.100391387939453,
                  -0.01577698439359665
                ],
                "yaw_deg": 107.04979666953507,
                "distance_xy": 0.05043514617682041,
                "distance_total_xy": 0.602606764502783,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 3.7866108786610875
              },
              {
                "frame": 1009,
                "xyz": [
                  7.077009201049805,
                  -4.050532817840576,
                  -0.016386965289711952
                ],
                "yaw_deg": 108.38583917178737,
                "distance_xy": 0.05009150376096852,
                "distance_total_xy": 0.6526982682637515,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 4.221757322175732
              },
              {
                "frame": 1122,
                "xyz": [
                  7.081401824951172,
                  -4.000301837921143,
                  -0.01693412847816944
                ],
                "yaw_deg": 108.6449880960888,
                "distance_xy": 0.050422678314478726,
                "distance_total_xy": 0.7031209465782303,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 4.694560669456067
              },
              {
                "frame": 1224,
                "xyz": [
                  7.073841094970703,
                  -3.9506633281707764,
                  -0.017482442781329155
                ],
                "yaw_deg": 109.93604414738583,
                "distance_xy": 0.05021101759648733,
                "distance_total_xy": 0.7533319641747176,
                "command": {
                  "v": 0.0,
                  "w": 1.0,
                  "lateral": 0.0
                },
                "time_s": 5.121338912133891
              },
              {
                "frame": 1304,
                "xyz": [
                  7.0768818855285645,
                  -3.900193214416504,
                  -0.017331592738628387
                ],
                "yaw_deg": 114.21194102997775,
                "distance_xy": 0.05056163357315486,
                "distance_total_xy": 0.8038935977478725,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 5.456066945606694
              },
              {
                "frame": 1441,
                "xyz": [
                  7.083704471588135,
                  -3.850560426712036,
                  -0.01640988327562809
                ],
                "yaw_deg": 116.92929031987126,
                "distance_xy": 0.05009951392835075,
                "distance_total_xy": 0.8539931116762233,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 6.02928870292887
              },
              {
                "frame": 1603,
                "xyz": [
                  7.083415508270264,
                  -3.7997171878814697,
                  -0.015327680855989456
                ],
                "yaw_deg": 120.35184344721722,
                "distance_xy": 0.05084405997342355,
                "distance_total_xy": 0.9048371716496468,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 6.707112970711297
              },
              {
                "frame": 1645,
                "xyz": [
                  7.0643720626831055,
                  -3.752412796020508,
                  -0.014650519005954266
                ],
                "yaw_deg": 119.63106955436368,
                "distance_xy": 0.05099370852533178,
                "distance_total_xy": 0.9558308801749786,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 6.882845188284518
              },
              {
                "frame": 1681,
                "xyz": [
                  7.050949573516846,
                  -3.70416522026062,
                  -0.01444028690457344
                ],
                "yaw_deg": 120.1651887710077,
                "distance_xy": 0.05007985405454436,
                "distance_total_xy": 1.005910734229523,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 7.03347280334728
              },
              {
                "frame": 1716,
                "xyz": [
                  7.0407586097717285,
                  -3.654923677444458,
                  -0.014447289519011974
                ],
                "yaw_deg": 121.58985806195103,
                "distance_xy": 0.05028504032980603,
                "distance_total_xy": 1.0561957745593291,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 7.179916317991631
              },
              {
                "frame": 1746,
                "xyz": [
                  7.022871971130371,
                  -3.607738971710205,
                  -0.014736907556653023
                ],
                "yaw_deg": 122.48138674768866,
                "distance_xy": 0.050461156319634035,
                "distance_total_xy": 1.106656930878963,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 7.3054393305439325
              },
              {
                "frame": 1777,
                "xyz": [
                  6.999072074890137,
                  -3.5620205402374268,
                  0.8346425294876099
                ],
                "yaw_deg": 122.84014080319777,
                "distance_xy": 0.05154231307748081,
                "distance_total_xy": 1.158199243956444,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 7.435146443514644
              },
              {
                "frame": 1806,
                "xyz": [
                  6.974772930145264,
                  -3.5182957649230957,
                  0.8346425294876099
                ],
                "yaw_deg": 122.75777472461493,
                "distance_xy": 0.050023038808343356,
                "distance_total_xy": 1.2082222827647873,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 7.556485355648535
              },
              {
                "frame": 1834,
                "xyz": [
                  6.9528608322143555,
                  -3.471486806869507,
                  0.8346425294876099
                ],
                "yaw_deg": 122.1282015671017,
                "distance_xy": 0.051683832963474695,
                "distance_total_xy": 1.259906115728262,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 7.673640167364016
              },
              {
                "frame": 1860,
                "xyz": [
                  6.93058443069458,
                  -3.4245986938476562,
                  0.8346425294876099
                ],
                "yaw_deg": 122.18935225303655,
                "distance_xy": 0.05191081975291939,
                "distance_total_xy": 1.3118169354811815,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 7.7824267782426775
              },
              {
                "frame": 1884,
                "xyz": [
                  6.904539108276367,
                  -3.3806028366088867,
                  0.8346425294876099
                ],
                "yaw_deg": 121.43245722886552,
                "distance_xy": 0.051127236127555854,
                "distance_total_xy": 1.3629441716087374,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 7.882845188284518
              },
              {
                "frame": 1908,
                "xyz": [
                  6.881711483001709,
                  -3.3343327045440674,
                  0.8346425294876099
                ],
                "yaw_deg": 122.58697411396712,
                "distance_xy": 0.05159482141626266,
                "distance_total_xy": 1.414538993025,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 7.983263598326359
              },
              {
                "frame": 1932,
                "xyz": [
                  6.854615688323975,
                  -3.2899208068847656,
                  0.8345655202865601
                ],
                "yaw_deg": 121.92909590198971,
                "distance_xy": 0.052024981911753046,
                "distance_total_xy": 1.4665639749367532,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 8.0836820083682
              },
              {
                "frame": 1955,
                "xyz": [
                  6.831770420074463,
                  -3.244197130203247,
                  0.8345655202865601
                ],
                "yaw_deg": 122.1544065612381,
                "distance_xy": 0.05111321639916815,
                "distance_total_xy": 1.5176771913359213,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 8.179916317991632
              },
              {
                "frame": 1977,
                "xyz": [
                  6.804987907409668,
                  -3.2018630504608154,
                  0.8345655202865601
                ],
                "yaw_deg": 122.04326198062824,
                "distance_xy": 0.05009468327356169,
                "distance_total_xy": 1.5677718746094829,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 8.271966527196652
              },
              {
                "frame": 2000,
                "xyz": [
                  6.780259132385254,
                  -3.156604528427124,
                  0.8345655202865601
                ],
                "yaw_deg": 122.71957356240246,
                "distance_xy": 0.051573696114222946,
                "distance_total_xy": 1.6193455707237059,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 8.368200836820083
              },
              {
                "frame": 2025,
                "xyz": [
                  6.755519866943359,
                  -3.1124184131622314,
                  0.8345655202865601
                ],
                "yaw_deg": 123.3329220902081,
                "distance_xy": 0.050640340014724325,
                "distance_total_xy": 1.6699859107384303,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 8.472803347280333
              },
              {
                "frame": 2052,
                "xyz": [
                  6.728818416595459,
                  -3.0699474811553955,
                  0.8345655202865601
                ],
                "yaw_deg": 121.03749845580421,
                "distance_xy": 0.05016719561835873,
                "distance_total_xy": 1.720153106356789,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 8.585774058577405
              },
              {
                "frame": 2082,
                "xyz": [
                  6.701477527618408,
                  -3.027722120285034,
                  0.8345655202865601
                ],
                "yaw_deg": 119.76680815511047,
                "distance_xy": 0.05030412816745419,
                "distance_total_xy": 1.770457234524243,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 8.711297071129707
              },
              {
                "frame": 2120,
                "xyz": [
                  6.676413536071777,
                  -2.983670711517334,
                  0.8345655202865601
                ],
                "yaw_deg": 118.29407045958482,
                "distance_xy": 0.05068264285402446,
                "distance_total_xy": 1.8211398773782674,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 8.870292887029288
              },
              {
                "frame": 2159,
                "xyz": [
                  6.655786991119385,
                  -2.93701171875,
                  0.8345655202865601
                ],
                "yaw_deg": 118.07089215456386,
                "distance_xy": 0.051014860214796204,
                "distance_total_xy": 1.8721547375930636,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 9.03347280334728
              },
              {
                "frame": 2214,
                "xyz": [
                  6.643695831298828,
                  -2.888098955154419,
                  0.8345655202865601
                ],
                "yaw_deg": 118.0326374752325,
                "distance_xy": 0.05038506314735988,
                "distance_total_xy": 1.9225398007404235,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 9.263598326359832
              },
              {
                "frame": 2262,
                "xyz": [
                  6.6224517822265625,
                  -2.842118263244629,
                  0.35945478081703186
                ],
                "yaw_deg": 118.28108868072317,
                "distance_xy": 0.05065109721899281,
                "distance_total_xy": 1.9731908979594164,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 9.464435146443513
              },
              {
                "frame": 2306,
                "xyz": [
                  6.599180221557617,
                  -2.797184467315674,
                  0.35945478081703186
                ],
                "yaw_deg": 119.19807316656619,
                "distance_xy": 0.05060248563611656,
                "distance_total_xy": 2.023793383595533,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 9.648535564853555
              },
              {
                "frame": 2341,
                "xyz": [
                  6.578954219818115,
                  -2.750861406326294,
                  0.35945478081703186
                ],
                "yaw_deg": 119.68243373449818,
                "distance_xy": 0.05054618804412598,
                "distance_total_xy": 2.074339571639659,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 9.794979079497907
              },
              {
                "frame": 2376,
                "xyz": [
                  6.560099124908447,
                  -2.7037715911865234,
                  0.35945478081703186
                ],
                "yaw_deg": 116.52880131878567,
                "distance_xy": 0.050724405308986587,
                "distance_total_xy": 2.1250639769486455,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 9.941422594142258
              },
              {
                "frame": 2417,
                "xyz": [
                  6.543443202972412,
                  -2.6559791564941406,
                  0.35945478081703186
                ],
                "yaw_deg": 113.34368788612299,
                "distance_xy": 0.05061162464656685,
                "distance_total_xy": 2.1756756015952123,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 10.11297071129707
              },
              {
                "frame": 2474,
                "xyz": [
                  6.523426055908203,
                  -2.610102415084839,
                  0.35945478081703186
                ],
                "yaw_deg": 109.13984678634374,
                "distance_xy": 0.05005358707351665,
                "distance_total_xy": 2.225729188668729,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 10.351464435146443
              },
              {
                "frame": 2524,
                "xyz": [
                  6.515731334686279,
                  -2.5596988201141357,
                  0.35945478081703186
                ],
                "yaw_deg": 111.09958622759221,
                "distance_xy": 0.050987558488849165,
                "distance_total_xy": 2.276716747157578,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 10.560669456066945
              },
              {
                "frame": 2561,
                "xyz": [
                  6.500184059143066,
                  -2.5109550952911377,
                  0.35945478081703186
                ],
                "yaw_deg": 110.80523262789312,
                "distance_xy": 0.05116315555589532,
                "distance_total_xy": 2.327879902713473,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 10.715481171548117
              },
              {
                "frame": 2593,
                "xyz": [
                  6.485796928405762,
                  -2.4614310264587402,
                  0.35945478081703186
                ],
                "yaw_deg": 109.25365221315643,
                "distance_xy": 0.051571532113835236,
                "distance_total_xy": 2.3794514348273084,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 10.849372384937238
              },
              {
                "frame": 2621,
                "xyz": [
                  6.475512504577637,
                  -2.4113078117370605,
                  0.3601076304912567
                ],
                "yaw_deg": 109.2088170267519,
                "distance_xy": 0.05116743131633747,
                "distance_total_xy": 2.4306188661436456,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 10.966527196652718
              },
              {
                "frame": 2644,
                "xyz": [
                  6.461093425750732,
                  -2.3632922172546387,
                  0.3609009385108948
                ],
                "yaw_deg": 109.05127299933321,
                "distance_xy": 0.0501338922059405,
                "distance_total_xy": 2.480752758349586,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 11.06276150627615
              },
              {
                "frame": 2667,
                "xyz": [
                  6.453134059906006,
                  -2.3130905628204346,
                  0.36063510179519653
                ],
                "yaw_deg": 107.9722097872365,
                "distance_xy": 0.050828708547251564,
                "distance_total_xy": 2.5315814668968377,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 11.15899581589958
              },
              {
                "frame": 2690,
                "xyz": [
                  6.441826820373535,
                  -2.2633140087127686,
                  0.3601977229118347
                ],
                "yaw_deg": 107.76700202794139,
                "distance_xy": 0.051044676555719995,
                "distance_total_xy": 2.5826261434525577,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 11.255230125523012
              },
              {
                "frame": 2713,
                "xyz": [
                  6.433320999145508,
                  -2.214017391204834,
                  0.35766080021858215
                ],
                "yaw_deg": 106.71504363875472,
                "distance_xy": 0.05002504865051869,
                "distance_total_xy": 2.632651192103076,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 11.351464435146443
              },
              {
                "frame": 2738,
                "xyz": [
                  6.4249773025512695,
                  -2.1639018058776855,
                  0.3535963296890259
                ],
                "yaw_deg": 105.60274344362884,
                "distance_xy": 0.05080540488510449,
                "distance_total_xy": 2.6834565969881807,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 11.456066945606693
              },
              {
                "frame": 2766,
                "xyz": [
                  6.413861274719238,
                  -2.1135964393615723,
                  0.929432213306427
                ],
                "yaw_deg": 105.81125600923502,
                "distance_xy": 0.05151888949776562,
                "distance_total_xy": 2.734975486485946,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 11.573221757322175
              },
              {
                "frame": 2792,
                "xyz": [
                  6.397399425506592,
                  -2.0652854442596436,
                  0.929432213306427
                ],
                "yaw_deg": 106.0633915596378,
                "distance_xy": 0.05103865914420646,
                "distance_total_xy": 2.7860141456301526,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 11.682008368200837
              },
              {
                "frame": 2819,
                "xyz": [
                  6.382490158081055,
                  -2.015711545944214,
                  0.929432213306427
                ],
                "yaw_deg": 106.38913965805892,
                "distance_xy": 0.05176734153261827,
                "distance_total_xy": 2.8377814871627707,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 11.794979079497907
              },
              {
                "frame": 2847,
                "xyz": [
                  6.370700836181641,
                  -1.9653615951538086,
                  0.929432213306427
                ],
                "yaw_deg": 106.63504670111892,
                "distance_xy": 0.05171175548600373,
                "distance_total_xy": 2.8894932426487743,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 11.912133891213388
              },
              {
                "frame": 2879,
                "xyz": [
                  6.364171028137207,
                  -1.9156396389007568,
                  0.929432213306427
                ],
                "yaw_deg": 110.26110762476522,
                "distance_xy": 0.05014889158024873,
                "distance_total_xy": 2.939642134229023,
                "command": {
                  "v": 0.0,
                  "w": 1.0,
                  "lateral": 0.0
                },
                "time_s": 12.04602510460251
              },
              {
                "frame": 2912,
                "xyz": [
                  6.357143402099609,
                  -1.8661246299743652,
                  0.929432213306427
                ],
                "yaw_deg": 112.97556931970601,
                "distance_xy": 0.050011235104773816,
                "distance_total_xy": 2.989653369333797,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 12.184100418410042
              },
              {
                "frame": 2943,
                "xyz": [
                  6.345345497131348,
                  -1.8167253732681274,
                  0.929432213306427
                ],
                "yaw_deg": 113.55962421550218,
                "distance_xy": 0.05078855308796377,
                "distance_total_xy": 3.0404419224217607,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 12.313807531380752
              },
              {
                "frame": 2976,
                "xyz": [
                  6.331718444824219,
                  -1.7673033475875854,
                  0.929432213306427
                ],
                "yaw_deg": 114.50156905253456,
                "distance_xy": 0.0512662966962641,
                "distance_total_xy": 3.0917082191180247,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 12.451882845188283
              },
              {
                "frame": 3007,
                "xyz": [
                  6.320034503936768,
                  -1.7171787023544312,
                  0.9208430647850037
                ],
                "yaw_deg": 115.46756325027292,
                "distance_xy": 0.05146838383329159,
                "distance_total_xy": 3.1431766029513164,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 12.581589958158995
              },
              {
                "frame": 3041,
                "xyz": [
                  6.312013626098633,
                  -1.666061520576477,
                  0.9208430647850037
                ],
                "yaw_deg": 114.89716886052528,
                "distance_xy": 0.05174263961390725,
                "distance_total_xy": 3.1949192425652235,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 12.723849372384937
              },
              {
                "frame": 3070,
                "xyz": [
                  6.298466205596924,
                  -1.6173444986343384,
                  0.9208430647850037
                ],
                "yaw_deg": 114.3016520517319,
                "distance_xy": 0.05056560915445344,
                "distance_total_xy": 3.245484851719677,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 12.845188284518827
              },
              {
                "frame": 3099,
                "xyz": [
                  6.282282829284668,
                  -1.5683932304382324,
                  0.9208430647850037
                ],
                "yaw_deg": 114.76377597959794,
                "distance_xy": 0.05155703954719645,
                "distance_total_xy": 3.2970418912668733,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 12.966527196652718
              },
              {
                "frame": 3130,
                "xyz": [
                  6.268326282501221,
                  -1.5190376043319702,
                  0.7574504613876343
                ],
                "yaw_deg": 114.60518730150734,
                "distance_xy": 0.0512909643744364,
                "distance_total_xy": 3.34833285564131,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 13.09623430962343
              },
              {
                "frame": 3165,
                "xyz": [
                  6.254172325134277,
                  -1.4702420234680176,
                  0.7583823204040527
                ],
                "yaw_deg": 111.23195162329303,
                "distance_xy": 0.050806920995035615,
                "distance_total_xy": 3.3991397766363454,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 13.242677824267782
              },
              {
                "frame": 3208,
                "xyz": [
                  6.233635902404785,
                  -1.4241622686386108,
                  0.7589688897132874
                ],
                "yaw_deg": 108.80593718697314,
                "distance_xy": 0.05044886979569153,
                "distance_total_xy": 3.449588646432037,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 13.422594142259413
              },
              {
                "frame": 3262,
                "xyz": [
                  6.226485252380371,
                  -1.3744328022003174,
                  0.7589688897132874
                ],
                "yaw_deg": 109.62257921491266,
                "distance_xy": 0.05024093577959121,
                "distance_total_xy": 3.4998295822116283,
                "command": {
                  "v": -1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 13.648535564853555
              },
              {
                "frame": 3346,
                "xyz": [
                  6.272851943969727,
                  -1.3556299209594727,
                  0.7589688897132874
                ],
                "yaw_deg": 115.44711795380282,
                "distance_xy": 0.05003417264130304,
                "distance_total_xy": 3.5498637548529315,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 13.999999999999998
              },
              {
                "frame": 3409,
                "xyz": [
                  6.313971519470215,
                  -1.3846479654312134,
                  0.7589688897132874
                ],
                "yaw_deg": 126.51313498117196,
                "distance_xy": 0.05032759078581329,
                "distance_total_xy": 3.600191345638745,
                "command": {
                  "v": 0.0,
                  "w": 1.0,
                  "lateral": 0.0
                },
                "time_s": 14.263598326359832
              },
              {
                "frame": 3497,
                "xyz": [
                  6.355898857116699,
                  -1.4125369787216187,
                  0.7589688897132874
                ],
                "yaw_deg": 130.01233264193186,
                "distance_xy": 0.05035572166531533,
                "distance_total_xy": 3.65054706730406,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 14.631799163179915
              },
              {
                "frame": 3562,
                "xyz": [
                  6.402964115142822,
                  -1.4308110475540161,
                  0.7589139342308044
                ],
                "yaw_deg": 138.6451867457868,
                "distance_xy": 0.05048841555007188,
                "distance_total_xy": 3.701035482854132,
                "command": {
                  "v": 0.0,
                  "w": 1.0,
                  "lateral": 0.0
                },
                "time_s": 14.903765690376568
              },
              {
                "frame": 3686,
                "xyz": [
                  6.452707767486572,
                  -1.4381029605865479,
                  0.7587955594062805
                ],
                "yaw_deg": 166.6764795046894,
                "distance_xy": 0.05027527169662906,
                "distance_total_xy": 3.751310754550761,
                "command": {
                  "v": 0.0,
                  "w": 1.0,
                  "lateral": 0.0
                },
                "time_s": 15.422594142259413
              },
              {
                "frame": 3809,
                "xyz": [
                  6.474025726318359,
                  -1.3927770853042603,
                  0.7589688897132874
                ],
                "yaw_deg": 178.1780564345798,
                "distance_xy": 0.05008882449069113,
                "distance_total_xy": 3.801399579041452,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": -1.0
                },
                "time_s": 15.937238493723848
              },
              {
                "frame": 3843,
                "xyz": [
                  6.492733001708984,
                  -1.3448528051376343,
                  0.7589688897132874
                ],
                "yaw_deg": 179.01672704325503,
                "distance_xy": 0.05144607644932647,
                "distance_total_xy": 3.8528456554907784,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 16.07949790794979
              },
              {
                "frame": 3869,
                "xyz": [
                  6.508038520812988,
                  -1.2967469692230225,
                  0.968870997428894
                ],
                "yaw_deg": 176.83789169219307,
                "distance_xy": 0.050481980587993816,
                "distance_total_xy": 3.9033276360787723,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 16.18828451882845
              },
              {
                "frame": 3901,
                "xyz": [
                  6.517432689666748,
                  -1.2475082874298096,
                  0.968870997428894
                ],
                "yaw_deg": 173.1272169197762,
                "distance_xy": 0.050126821095958445,
                "distance_total_xy": 3.9534544571747308,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 16.322175732217573
              },
              {
                "frame": 3946,
                "xyz": [
                  6.505181312561035,
                  -1.1987711191177368,
                  0.968870997428894
                ],
                "yaw_deg": 172.445246989475,
                "distance_xy": 0.05025343586328893,
                "distance_total_xy": 4.00370789303802,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 16.510460251046023
              },
              {
                "frame": 4007,
                "xyz": [
                  6.460264682769775,
                  -1.1748377084732056,
                  0.968870997428894
                ],
                "yaw_deg": 174.89220993256853,
                "distance_xy": 0.05089510562799576,
                "distance_total_xy": 4.054602998666016,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 16.765690376569037
              },
              {
                "frame": 4044,
                "xyz": [
                  6.417704105377197,
                  -1.148238182067871,
                  0.968870997428894
                ],
                "yaw_deg": 174.878501256878,
                "distance_xy": 0.05018901825078588,
                "distance_total_xy": 4.104792016916802,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 16.920502092050206
              },
              {
                "frame": 4077,
                "xyz": [
                  6.367708206176758,
                  -1.1424607038497925,
                  0.968870997428894
                ],
                "yaw_deg": 174.90733797409422,
                "distance_xy": 0.05032861205537935,
                "distance_total_xy": 4.155120628972181,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 17.05857740585774
              },
              {
                "frame": 4109,
                "xyz": [
                  6.325724124908447,
                  -1.114174246788025,
                  0.968870997428894
                ],
                "yaw_deg": 173.05574730524884,
                "distance_xy": 0.05062397389628086,
                "distance_total_xy": 4.205744602868462,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 17.19246861924686
              },
              {
                "frame": 4137,
                "xyz": [
                  6.278648376464844,
                  -1.0964585542678833,
                  0.9690670967102051
                ],
                "yaw_deg": 172.73574873338302,
                "distance_xy": 0.05029882556276677,
                "distance_total_xy": 4.256043428431228,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 17.309623430962343
              },
              {
                "frame": 4162,
                "xyz": [
                  6.229518890380859,
                  -1.0871388912200928,
                  0.9706457257270813
                ],
                "yaw_deg": 172.4074851079999,
                "distance_xy": 0.050005624905612035,
                "distance_total_xy": 4.3060490533368405,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 17.414225941422593
              },
              {
                "frame": 4187,
                "xyz": [
                  6.181344985961914,
                  -1.0685845613479614,
                  0.9717676639556885
                ],
                "yaw_deg": 173.25799939907273,
                "distance_xy": 0.05162352393986238,
                "distance_total_xy": 4.357672577276703,
                "command": {
                  "v": 0.0,
                  "w": 1.0,
                  "lateral": 0.0
                },
                "time_s": 17.518828451882843
              },
              {
                "frame": 4215,
                "xyz": [
                  6.13435173034668,
                  -1.0514237880706787,
                  0.7589688897132874
                ],
                "yaw_deg": 176.54294057208438,
                "distance_xy": 0.05002857396321684,
                "distance_total_xy": 4.40770115123992,
                "command": {
                  "v": 0.0,
                  "w": 1.0,
                  "lateral": 0.0
                },
                "time_s": 17.635983263598323
              },
              {
                "frame": 4244,
                "xyz": [
                  6.085438251495361,
                  -1.0363937616348267,
                  0.7589688897132874
                ],
                "yaw_deg": -178.99855255274005,
                "distance_xy": 0.05117059808132772,
                "distance_total_xy": 4.458871749321247,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 17.757322175732217
              },
              {
                "frame": 4273,
                "xyz": [
                  6.037405014038086,
                  -1.0217411518096924,
                  0.7589688897132874
                ],
                "yaw_deg": -176.06369435714805,
                "distance_xy": 0.05021843162937912,
                "distance_total_xy": 4.5090901809506265,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 17.878661087866107
              },
              {
                "frame": 4300,
                "xyz": [
                  5.988797664642334,
                  -1.0073744058609009,
                  0.7589688897132874
                ],
                "yaw_deg": -175.65015808412832,
                "distance_xy": 0.0506860711087161,
                "distance_total_xy": 4.559776252059343,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 17.99163179916318
              },
              {
                "frame": 4328,
                "xyz": [
                  5.938047409057617,
                  -1.0027159452438354,
                  0.7589688897132874
                ],
                "yaw_deg": -175.15005882755534,
                "distance_xy": 0.0509636115010978,
                "distance_total_xy": 4.610739863560441,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 18.10878661087866
              },
              {
                "frame": 4357,
                "xyz": [
                  5.887862205505371,
                  -1.0002140998840332,
                  0.7589688897132874
                ],
                "yaw_deg": -174.73262254066933,
                "distance_xy": 0.05024752616581973,
                "distance_total_xy": 4.660987389726261,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 18.23012552301255
              },
              {
                "frame": 4384,
                "xyz": [
                  5.837849140167236,
                  -1.003067135810852,
                  0.7589688897132874
                ],
                "yaw_deg": -175.13734368728987,
                "distance_xy": 0.050094376116648624,
                "distance_total_xy": 4.711081765842909,
                "command": {
                  "v": 0.0,
                  "w": 1.0,
                  "lateral": 0.0
                },
                "time_s": 18.343096234309623
              },
              {
                "frame": 4414,
                "xyz": [
                  5.786539554595947,
                  -1.001735806465149,
                  0.7589688897132874
                ],
                "yaw_deg": -170.92524881905152,
                "distance_xy": 0.05132685466034486,
                "distance_total_xy": 4.762408620503254,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 18.468619246861923
              },
              {
                "frame": 4443,
                "xyz": [
                  5.735542297363281,
                  -1.000892162322998,
                  0.7589688897132874
                ],
                "yaw_deg": -169.46017364088502,
                "distance_xy": 0.05100423492900655,
                "distance_total_xy": 4.813412855432261,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 18.589958158995813
              },
              {
                "frame": 4468,
                "xyz": [
                  5.686191082000732,
                  -1.0098400115966797,
                  0.7589688897132874
                ],
                "yaw_deg": -169.2631896399132,
                "distance_xy": 0.05015582183939568,
                "distance_total_xy": 4.863568677271656,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 18.694560669456067
              },
              {
                "frame": 4495,
                "xyz": [
                  5.634881973266602,
                  -1.014595866203308,
                  0.7589688897132874
                ],
                "yaw_deg": -168.92207224687456,
                "distance_xy": 0.05152904804215048,
                "distance_total_xy": 4.915097725313807,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 18.807531380753137
              },
              {
                "frame": 4522,
                "xyz": [
                  5.584102630615234,
                  -1.0208297967910767,
                  0.7587253451347351
                ],
                "yaw_deg": -168.59107903217225,
                "distance_xy": 0.051160566168466856,
                "distance_total_xy": 4.966258291482274,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 18.920502092050206
              },
              {
                "frame": 4548,
                "xyz": [
                  5.533499240875244,
                  -1.0263770818710327,
                  0.7586873769760132
                ],
                "yaw_deg": -169.07256415765477,
                "distance_xy": 0.05090653617106208,
                "distance_total_xy": 5.017164827653335,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 19.02928870292887
              },
              {
                "frame": 4572,
                "xyz": [
                  5.483673095703125,
                  -1.0311352014541626,
                  0.7586873769760132
                ],
                "yaw_deg": -168.50663302288447,
                "distance_xy": 0.05005281655092404,
                "distance_total_xy": 5.067217644204259,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 19.12970711297071
              },
              {
                "frame": 4600,
                "xyz": [
                  5.432646751403809,
                  -1.0382946729660034,
                  0.7586873769760132
                ],
                "yaw_deg": -170.1622808039025,
                "distance_xy": 0.05152616660378725,
                "distance_total_xy": 5.118743810808047,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 19.24686192468619
              },
              {
                "frame": 4631,
                "xyz": [
                  5.38203239440918,
                  -1.044279932975769,
                  0.7586873769760132
                ],
                "yaw_deg": -171.20300915420782,
                "distance_xy": 0.05096701356136378,
                "distance_total_xy": 5.16971082436941,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 19.376569037656903
              },
              {
                "frame": 4659,
                "xyz": [
                  5.332774639129639,
                  -1.0535253286361694,
                  0.7586873769760132
                ],
                "yaw_deg": -170.56720378726982,
                "distance_xy": 0.050117898959318924,
                "distance_total_xy": 5.219828723328729,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 19.493723849372383
              },
              {
                "frame": 4688,
                "xyz": [
                  5.281790733337402,
                  -1.0563418865203857,
                  0.7561813592910767
                ],
                "yaw_deg": -170.67919936559156,
                "distance_xy": 0.05106164556833994,
                "distance_total_xy": 5.270890368897069,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 19.615062761506273
              },
              {
                "frame": 4718,
                "xyz": [
                  5.2317023277282715,
                  -1.055877685546875,
                  0.7561813592910767
                ],
                "yaw_deg": -171.06324607628173,
                "distance_xy": 0.05009055658513509,
                "distance_total_xy": 5.320980925482204,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 19.740585774058577
              },
              {
                "frame": 4749,
                "xyz": [
                  5.1806488037109375,
                  -1.0560986995697021,
                  0.7566624283790588
                ],
                "yaw_deg": -170.78300580141948,
                "distance_xy": 0.05105400240712558,
                "distance_total_xy": 5.37203492788933,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 19.870292887029287
              },
              {
                "frame": 4784,
                "xyz": [
                  5.1307759284973145,
                  -1.051851749420166,
                  0.7815026044845581
                ],
                "yaw_deg": -170.34927571417396,
                "distance_xy": 0.05005337418842271,
                "distance_total_xy": 5.422088302077753,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 20.01673640167364
              },
              {
                "frame": 4823,
                "xyz": [
                  5.079362392425537,
                  -1.0534954071044922,
                  0.7815026044845581
                ],
                "yaw_deg": -169.36206944967466,
                "distance_xy": 0.051439802701674454,
                "distance_total_xy": 5.473528104779427,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 20.17991631799163
              },
              {
                "frame": 4859,
                "xyz": [
                  5.02944278717041,
                  -1.0614056587219238,
                  0.7815026044845581
                ],
                "yaw_deg": -168.68970490521838,
                "distance_xy": 0.050542448194352226,
                "distance_total_xy": 5.524070552973779,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 20.330543933054393
              },
              {
                "frame": 4895,
                "xyz": [
                  4.9798712730407715,
                  -1.070172667503357,
                  0.7815026044845581
                ],
                "yaw_deg": -168.04639631732113,
                "distance_xy": 0.05034079316100107,
                "distance_total_xy": 5.57441134613478,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 20.481171548117153
              },
              {
                "frame": 4928,
                "xyz": [
                  4.929093360900879,
                  -1.0782073736190796,
                  0.754801869392395
                ],
                "yaw_deg": -168.58119799187105,
                "distance_xy": 0.0514096572995063,
                "distance_total_xy": 5.625821003434286,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 20.619246861924683
              },
              {
                "frame": 4958,
                "xyz": [
                  4.8777666091918945,
                  -1.0850629806518555,
                  0.7548567056655884
                ],
                "yaw_deg": -168.38100029027882,
                "distance_xy": 0.05178257224958583,
                "distance_total_xy": 5.677603575683872,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 20.744769874476987
              },
              {
                "frame": 4989,
                "xyz": [
                  4.8271965980529785,
                  -1.0917165279388428,
                  0.7554395198822021
                ],
                "yaw_deg": -171.18132158333233,
                "distance_xy": 0.05100584003906088,
                "distance_total_xy": 5.728609415722932,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 20.874476987447697
              },
              {
                "frame": 5025,
                "xyz": [
                  4.777918815612793,
                  -1.1013859510421753,
                  0.7560733556747437
                ],
                "yaw_deg": -174.43196009633024,
                "distance_xy": 0.050217502779145835,
                "distance_total_xy": 5.778826918502078,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 21.02510460251046
              },
              {
                "frame": 5069,
                "xyz": [
                  4.729732513427734,
                  -1.1154121160507202,
                  0.7557677030563354
                ],
                "yaw_deg": -179.57189458728206,
                "distance_xy": 0.050186183587883154,
                "distance_total_xy": 5.829013102089961,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 21.2092050209205
              },
              {
                "frame": 5148,
                "xyz": [
                  4.680205821990967,
                  -1.1224498748779297,
                  0.754448413848877
                ],
                "yaw_deg": 169.3036049096346,
                "distance_xy": 0.050024226270705595,
                "distance_total_xy": 5.879037328360667,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 21.539748953974893
              },
              {
                "frame": 5238,
                "xyz": [
                  4.63654899597168,
                  -1.0972756147384644,
                  0.7544429898262024
                ],
                "yaw_deg": 168.9865762102955,
                "distance_xy": 0.05039505761131519,
                "distance_total_xy": 5.929432385971982,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 21.916317991631797
              },
              {
                "frame": 5344,
                "xyz": [
                  4.593138217926025,
                  -1.0715386867523193,
                  0.7544429898262024
                ],
                "yaw_deg": 163.7521165695989,
                "distance_xy": 0.05046667328735941,
                "distance_total_xy": 5.979899059259341,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 22.359832635983263
              },
              {
                "frame": 5405,
                "xyz": [
                  4.545233249664307,
                  -1.0556615591049194,
                  0.7797225713729858
                ],
                "yaw_deg": 167.0247945335442,
                "distance_xy": 0.050467506045852026,
                "distance_total_xy": 6.030366565305193,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 22.615062761506273
              },
              {
                "frame": 5458,
                "xyz": [
                  4.495960712432861,
                  -1.0463981628417969,
                  0.7797225713729858
                ],
                "yaw_deg": 173.17766700531064,
                "distance_xy": 0.05013575007469019,
                "distance_total_xy": 6.080502315379883,
                "command": {
                  "v": 0.0,
                  "w": 1.0,
                  "lateral": 0.0
                },
                "time_s": 22.836820083682007
              },
              {
                "frame": 5504,
                "xyz": [
                  4.448419094085693,
                  -1.0278208255767822,
                  0.7797225713729858
                ],
                "yaw_deg": 177.00541974449536,
                "distance_xy": 0.051042364119678864,
                "distance_total_xy": 6.131544679499562,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 23.02928870292887
              },
              {
                "frame": 5542,
                "xyz": [
                  4.39832067489624,
                  -1.019876480102539,
                  0.7797225713729858
                ],
                "yaw_deg": -179.32483251862078,
                "distance_xy": 0.05072439482434751,
                "distance_total_xy": 6.1822690743239095,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 23.18828451882845
              },
              {
                "frame": 5586,
                "xyz": [
                  4.349172115325928,
                  -1.0098044872283936,
                  0.7818813920021057
                ],
                "yaw_deg": 174.46635192388896,
                "distance_xy": 0.050169970582943285,
                "distance_total_xy": 6.232439044906853,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 23.372384937238493
              },
              {
                "frame": 5647,
                "xyz": [
                  4.299386501312256,
                  -1.0027623176574707,
                  0.7818813920021057
                ],
                "yaw_deg": 167.983250038056,
                "distance_xy": 0.050281204390745786,
                "distance_total_xy": 6.282720249297599,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 23.627615062761503
              },
              {
                "frame": 5766,
                "xyz": [
                  4.250128269195557,
                  -0.9937242269515991,
                  0.7818813920021057
                ],
                "yaw_deg": 159.56637053816874,
                "distance_xy": 0.05008054028133264,
                "distance_total_xy": 6.332800789578932,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 24.1255230125523
              },
              {
                "frame": 5825,
                "xyz": [
                  4.203477382659912,
                  -0.9734209179878235,
                  0.7818813920021057
                ],
                "yaw_deg": 160.91809273104008,
                "distance_xy": 0.0508775939824213,
                "distance_total_xy": 6.383678383561353,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 24.372384937238493
              },
              {
                "frame": 5861,
                "xyz": [
                  4.16303825378418,
                  -0.943568766117096,
                  0.7818813920021057
                ],
                "yaw_deg": 160.5269362858873,
                "distance_xy": 0.050264043963265406,
                "distance_total_xy": 6.433942427524618,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 24.523012552301253
              },
              {
                "frame": 5893,
                "xyz": [
                  4.118180751800537,
                  -0.9212329983711243,
                  0.787796676158905
                ],
                "yaw_deg": 157.66943731228164,
                "distance_xy": 0.05011069751075599,
                "distance_total_xy": 6.484053125035374,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 24.656903765690373
              },
              {
                "frame": 5935,
                "xyz": [
                  4.077457904815674,
                  -0.8906509280204773,
                  0.787796676158905
                ],
                "yaw_deg": 154.84751689802488,
                "distance_xy": 0.05092752981919022,
                "distance_total_xy": 6.534980654854564,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 24.832635983263597
              },
              {
                "frame": 5969,
                "xyz": [
                  4.0316853523254395,
                  -0.8685750961303711,
                  0.787796676158905
                ],
                "yaw_deg": 155.7710121701438,
                "distance_xy": 0.05081799794473894,
                "distance_total_xy": 6.585798652799303,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 24.974895397489536
              },
              {
                "frame": 6001,
                "xyz": [
                  3.9862070083618164,
                  -0.8464651107788086,
                  0.787796676158905
                ],
                "yaw_deg": 155.35097041344264,
                "distance_xy": 0.05056808501337496,
                "distance_total_xy": 6.636366737812678,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 25.10878661087866
              },
              {
                "frame": 6033,
                "xyz": [
                  3.9452598094940186,
                  -0.8176868557929993,
                  0.787796676158905
                ],
                "yaw_deg": 155.1886731525643,
                "distance_xy": 0.05004858694456063,
                "distance_total_xy": 6.686415324757239,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 25.24267782426778
              },
              {
                "frame": 6059,
                "xyz": [
                  3.8996148109436035,
                  -0.7950153350830078,
                  0.787796676158905
                ],
                "yaw_deg": 154.64798240991644,
                "distance_xy": 0.05096531903138606,
                "distance_total_xy": 6.737380643788625,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 25.35146443514644
              },
              {
                "frame": 6083,
                "xyz": [
                  3.8568966388702393,
                  -0.7689857482910156,
                  0.787796676158905
                ],
                "yaw_deg": 154.00074731791085,
                "distance_xy": 0.050023810469129716,
                "distance_total_xy": 6.7874044542577545,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 25.451882845188283
              },
              {
                "frame": 6106,
                "xyz": [
                  3.813171625137329,
                  -0.7432920932769775,
                  0.7839850783348083
                ],
                "yaw_deg": 153.68253849925418,
                "distance_xy": 0.05071529092811739,
                "distance_total_xy": 6.838119745185872,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 25.548117154811713
              },
              {
                "frame": 6128,
                "xyz": [
                  3.768275737762451,
                  -0.7185590863227844,
                  0.782470703125
                ],
                "yaw_deg": 152.85757530712513,
                "distance_xy": 0.05125780268577545,
                "distance_total_xy": 6.889377547871647,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 25.640167364016733
              },
              {
                "frame": 6150,
                "xyz": [
                  3.7234508991241455,
                  -0.6915915608406067,
                  0.7820977568626404
                ],
                "yaw_deg": 153.24109178866138,
                "distance_xy": 0.052311696489236954,
                "distance_total_xy": 6.941689244360885,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 25.732217573221757
              },
              {
                "frame": 6172,
                "xyz": [
                  3.6778509616851807,
                  -0.6666415333747864,
                  0.7823149561882019
                ],
                "yaw_deg": 152.41889909518602,
                "distance_xy": 0.05197940135267715,
                "distance_total_xy": 6.993668645713562,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 25.824267782426777
              },
              {
                "frame": 6193,
                "xyz": [
                  3.6351544857025146,
                  -0.640124499797821,
                  0.7823149561882019
                ],
                "yaw_deg": 153.42198635527606,
                "distance_xy": 0.0502607414495676,
                "distance_total_xy": 7.043929387163129,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 25.912133891213387
              },
              {
                "frame": 6213,
                "xyz": [
                  3.5899617671966553,
                  -0.6186821460723877,
                  0.7823149561882019
                ],
                "yaw_deg": 153.0485751226454,
                "distance_xy": 0.05002155874456982,
                "distance_total_xy": 7.093950945907699,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 25.995815899581586
              },
              {
                "frame": 6235,
                "xyz": [
                  3.543485403060913,
                  -0.5950371026992798,
                  0.7823149561882019
                ],
                "yaw_deg": 151.08179131203005,
                "distance_xy": 0.05214537850466,
                "distance_total_xy": 7.146096324412359,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 26.08786610878661
              },
              {
                "frame": 6258,
                "xyz": [
                  3.496983289718628,
                  -0.5728262662887573,
                  0.7823149561882019
                ],
                "yaw_deg": 149.06688615899625,
                "distance_xy": 0.05153414207449005,
                "distance_total_xy": 7.197630466486849,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 26.18410041841004
              },
              {
                "frame": 6282,
                "xyz": [
                  3.4495084285736084,
                  -0.5554990768432617,
                  0.7823149561882019
                ],
                "yaw_deg": 146.15471543225942,
                "distance_xy": 0.05053804443010215,
                "distance_total_xy": 7.248168510916951,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 26.28451882845188
              },
              {
                "frame": 6308,
                "xyz": [
                  3.4027493000030518,
                  -0.5367496609687805,
                  0.7823149561882019
                ],
                "yaw_deg": 144.49778644992853,
                "distance_xy": 0.05037813712625839,
                "distance_total_xy": 7.298546648043209,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 26.393305439330543
              },
              {
                "frame": 6337,
                "xyz": [
                  3.356916904449463,
                  -0.5150859951972961,
                  0.7823149561882019
                ],
                "yaw_deg": 140.93465745313836,
                "distance_xy": 0.050694406958156794,
                "distance_total_xy": 7.349241055001366,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 26.514644351464433
              },
              {
                "frame": 6371,
                "xyz": [
                  3.3097071647644043,
                  -0.4948750138282776,
                  0.7823149561882019
                ],
                "yaw_deg": 136.47496088920366,
                "distance_xy": 0.05135409710071643,
                "distance_total_xy": 7.400595152102083,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 26.656903765690373
              },
              {
                "frame": 6409,
                "xyz": [
                  3.261362075805664,
                  -0.4800899028778076,
                  0.7823149561882019
                ],
                "yaw_deg": 133.33771012051355,
                "distance_xy": 0.05055538677773333,
                "distance_total_xy": 7.4511505388798165,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 26.815899581589957
              },
              {
                "frame": 6459,
                "xyz": [
                  3.216219186782837,
                  -0.4583110213279724,
                  0.0005636088317260146
                ],
                "yaw_deg": 132.83698688906318,
                "distance_xy": 0.050121852628260265,
                "distance_total_xy": 7.501272391508077,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 27.025104602510456
              },
              {
                "frame": 6498,
                "xyz": [
                  3.174391031265259,
                  -0.4300200939178467,
                  -0.002155344234779477
                ],
                "yaw_deg": 133.87141280249583,
                "distance_xy": 0.0504972392089677,
                "distance_total_xy": 7.551769630717044,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 27.18828451882845
              },
              {
                "frame": 6532,
                "xyz": [
                  3.1360926628112793,
                  -0.39576011896133423,
                  -0.004991560243070126
                ],
                "yaw_deg": 135.17971398933727,
                "distance_xy": 0.05138590186284203,
                "distance_total_xy": 7.603155532579886,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 27.33054393305439
              },
              {
                "frame": 6564,
                "xyz": [
                  3.098414897918701,
                  -0.3627170920372009,
                  -0.008777542971074581
                ],
                "yaw_deg": 135.16392654686726,
                "distance_xy": 0.05011442502522992,
                "distance_total_xy": 7.653269957605116,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 27.464435146443513
              },
              {
                "frame": 6591,
                "xyz": [
                  3.0580387115478516,
                  -0.330608993768692,
                  -0.012845411896705627
                ],
                "yaw_deg": 135.89507859888064,
                "distance_xy": 0.051586494359219706,
                "distance_total_xy": 7.704856451964336,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 27.577405857740583
              },
              {
                "frame": 6617,
                "xyz": [
                  3.0209221839904785,
                  -0.2943286597728729,
                  -0.014491528272628784
                ],
                "yaw_deg": 136.61838073367946,
                "distance_xy": 0.051902786560698445,
                "distance_total_xy": 7.756759238525034,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 27.686192468619243
              },
              {
                "frame": 6643,
                "xyz": [
                  2.982725143432617,
                  -0.25951868295669556,
                  -0.013505393639206886
                ],
                "yaw_deg": 134.47108134158304,
                "distance_xy": 0.05167928398615551,
                "distance_total_xy": 7.80843852251119,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 27.794979079497907
              },
              {
                "frame": 6672,
                "xyz": [
                  2.9425628185272217,
                  -0.2281206250190735,
                  -0.009563489817082882
                ],
                "yaw_deg": 130.75259465226634,
                "distance_xy": 0.05097892097780047,
                "distance_total_xy": 7.85941744348899,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 27.916317991631797
              },
              {
                "frame": 6704,
                "xyz": [
                  2.902301073074341,
                  -0.1970728486776352,
                  -0.007293873466551304
                ],
                "yaw_deg": 129.28801319306712,
                "distance_xy": 0.050842625450113685,
                "distance_total_xy": 7.910260068939103,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 28.050209205020916
              },
              {
                "frame": 6743,
                "xyz": [
                  2.8671064376831055,
                  -0.16135422885417938,
                  -0.005571277346462011
                ],
                "yaw_deg": 126.00371427919586,
                "distance_xy": 0.0501446124964045,
                "distance_total_xy": 7.960404681435508,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 28.21338912133891
              },
              {
                "frame": 6803,
                "xyz": [
                  2.835113286972046,
                  -0.12235656380653381,
                  -0.004861499182879925
                ],
                "yaw_deg": 119.64559661832108,
                "distance_xy": 0.050441843459462586,
                "distance_total_xy": 8.010846524894971,
                "command": {
                  "v": 0.0,
                  "w": -1.0,
                  "lateral": 0.0
                },
                "time_s": 28.464435146443513
              },
              {
                "frame": 7219,
                "xyz": [
                  2.7967653274536133,
                  -0.08989129215478897,
                  -0.004397726152092218
                ],
                "yaw_deg": 107.8272799284324,
                "distance_xy": 0.05024499838440573,
                "distance_total_xy": 8.061091523279377,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 30.20502092050209
              },
              {
                "frame": 7353,
                "xyz": [
                  2.7507123947143555,
                  -0.0699191763997078,
                  -0.0033121886663138866
                ],
                "yaw_deg": 106.57468736288124,
                "distance_xy": 0.05019719137183838,
                "distance_total_xy": 8.111288714651215,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 30.765690376569037
              },
              {
                "frame": 7419,
                "xyz": [
                  2.700406551361084,
                  -0.07690707594156265,
                  -0.002288202755153179
                ],
                "yaw_deg": 104.72724807310482,
                "distance_xy": 0.0507888631049263,
                "distance_total_xy": 8.162077577756142,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 31.041841004184096
              },
              {
                "frame": 7469,
                "xyz": [
                  2.6509265899658203,
                  -0.08551395684480667,
                  -0.001557478099130094
                ],
                "yaw_deg": 104.49177238853419,
                "distance_xy": 0.05022295270650074,
                "distance_total_xy": 8.212300530462642,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 31.2510460251046
              },
              {
                "frame": 7520,
                "xyz": [
                  2.601260185241699,
                  -0.09337984770536423,
                  -0.0011675457935780287
                ],
                "yaw_deg": 103.24867413402505,
                "distance_xy": 0.05028542529650516,
                "distance_total_xy": 8.262585955759146,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 1.0
                },
                "time_s": 31.464435146443513
              },
              {
                "frame": 7563,
                "xyz": [
                  2.55120587348938,
                  -0.10119921714067459,
                  -0.0009597157477401197
                ],
                "yaw_deg": 102.92097863497175,
                "distance_xy": 0.05066139223673427,
                "distance_total_xy": 8.31324734799588,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 31.644351464435143
              },
              {
                "frame": 7619,
                "xyz": [
                  2.501425266265869,
                  -0.10787122696638107,
                  -0.0006881824810989201
                ],
                "yaw_deg": 106.0286955663175,
                "distance_xy": 0.05022573613851542,
                "distance_total_xy": 8.363473084134394,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 31.878661087866107
              },
              {
                "frame": 7706,
                "xyz": [
                  2.48003888130188,
                  -0.0619019977748394,
                  -0.00044143598643131554
                ],
                "yaw_deg": 106.00048473580414,
                "distance_xy": 0.05070056700168582,
                "distance_total_xy": 8.41417365113608,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 32.24267782426778
              },
              {
                "frame": 7749,
                "xyz": [
                  2.4746854305267334,
                  -0.011311760172247887,
                  -0.00038970267632976174
                ],
                "yaw_deg": 104.81215804221944,
                "distance_xy": 0.0508726997110295,
                "distance_total_xy": 8.465046350847109,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 32.42259414225941
              },
              {
                "frame": 7782,
                "xyz": [
                  2.4724650382995605,
                  0.039830759167671204,
                  -0.0004414771683514118
                ],
                "yaw_deg": 102.98699474805093,
                "distance_xy": 0.05119069667504524,
                "distance_total_xy": 8.516237047522154,
                "command": {
                  "v": 1.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 32.56066945606694
              },
              {
                "frame": 7812,
                "xyz": [
                  2.4723598957061768,
                  0.09046705067157745,
                  -0.0005417566862888634
                ],
                "yaw_deg": 104.07042308779974,
                "distance_xy": 0.05063640066428016,
                "distance_total_xy": 8.566873448186433,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 32.68619246861925
              },
              {
                "frame": 7846,
                "xyz": [
                  2.4805376529693604,
                  0.14032334089279175,
                  -0.00041938963113352656
                ],
                "yaw_deg": 106.2417452359008,
                "distance_xy": 0.05052252357590128,
                "distance_total_xy": 8.617395971762335,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 32.82845188284519
              },
              {
                "frame": 7881,
                "xyz": [
                  2.481869697570801,
                  0.1912187933921814,
                  0.0002375202311668545
                ],
                "yaw_deg": 107.80088622270868,
                "distance_xy": 0.05091288076644116,
                "distance_total_xy": 8.668308852528776,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 32.97489539748954
              },
              {
                "frame": 7927,
                "xyz": [
                  2.484032392501831,
                  0.24171578884124756,
                  0.000973417132627219
                ],
                "yaw_deg": 108.14673785961634,
                "distance_xy": 0.05054328638649957,
                "distance_total_xy": 8.718852138915276,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 33.1673640167364
              },
              {
                "frame": 8010,
                "xyz": [
                  2.488739252090454,
                  0.2915244698524475,
                  0.0015117060393095016
                ],
                "yaw_deg": 110.28419768900336,
                "distance_xy": 0.050030582959450745,
                "distance_total_xy": 8.768882721874727,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 33.51464435146443
              },
              {
                "frame": 8222,
                "xyz": [
                  2.4904944896698,
                  0.34181511402130127,
                  0.0018530006054788828
                ],
                "yaw_deg": 114.24410398640656,
                "distance_xy": 0.05032126538431056,
                "distance_total_xy": 8.819203987259037,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 34.40167364016736
              },
              {
                "frame": 8353,
                "xyz": [
                  2.484848976135254,
                  0.3915354311466217,
                  0.0020149340853095055
                ],
                "yaw_deg": 114.23666722226132,
                "distance_xy": 0.0500398017393272,
                "distance_total_xy": 8.869243788998364,
                "command": {
                  "v": 0.0,
                  "w": 0.0,
                  "lateral": 0.0
                },
                "time_s": 34.94979079497908
              }
            ]
          }
        ]
      },
      "task": {
        "navigation": {
          "instruction": "Follow the man ahead until he stops. Find a dummy ahead and stop near it.",
          "goal_position": [
            2.484848976135254,
            0.3915354311466217,
            0.0020149340853095055
          ],
          "success_radius": 0.1,
          "objects": {
            "dummy": [
              1.951,
              1.45,
              0.71
            ]
          },
          "room_zone": {},
          "answer": " "
        },
        "subtasks": [
          {
            "type": "FOLLOW_HUMAN",
            "human_id": "Character"
          },
          {
            "type": "GOTO_OBJECT",
            "object_id": "dummy"
          }
        ],
        "qa": null,
        "pending_annotations": [],
        "sub_instructions": [
          {
            "step": 0,
            "type": "FOLLOW",
            "text": "Follow the man ahead until he stops"
          },
          {
            "step": 1,
            "type": "OBJ",
            "text": "Find a dummy ahead and stop near it"
          }
        ]
      }
    }
  ]
}