Upload folder using huggingface_hub (part 957)

ORAD-3D/testing/y2021_0403_1858/local_path/1620354868096.json

@@ -0,0 +1,530 @@
+{
+    "timestamp": {
+        "sec": 1754654022,
+        "nsec": 559733000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.11762139564621599,
+            2.21565635236124,
+            0.09499161620646451
+        ],
+        [
+            -0.35684684520393795,
+            4.50489535662641,
+            0.08640224277644953
+        ],
+        [
+            -0.7702610299395083,
+            7.071988718147097,
+            0.0984140937096703
+        ],
+        [
+            -1.1863080628856864,
+            9.125362919728765,
+            0.1631703418604213
+        ],
+        [
+            -1.7172240764928954,
+            11.17516721478939,
+            0.42920134287234485
+        ],
+        [
+            -2.4450235535633134,
+            13.406970222998716,
+            0.5168555505171037
+        ],
+        [
+            -3.1598345614044794,
+            15.45500199398105,
+            0.708656207463509
+        ],
+        [
+            -3.9829905725903023,
+            17.647404839378154,
+            0.9108123504232131
+        ],
+        [
+            -4.766667986821723,
+            19.70269396791479,
+            1.3032704053050577
+        ],
+        [
+            -5.524350467315662,
+            21.836149878896002,
+            1.8495133874822882
+        ],
+        [
+            -6.360018300701886,
+            24.154566712960303,
+            2.500882151723283
+        ],
+        [
+            -7.1251408087342405,
+            26.239821250865923,
+            3.0203386698962
+        ],
+        [
+            -7.871065625504496,
+            28.5019858629585,
+            3.448144677610283
+        ],
+        [
+            -8.637315239080682,
+            30.83458667007234,
+            4.051358245611047
+        ],
+        [
+            -9.215640567225467,
+            33.03492524926024,
+            4.476904791719277
+        ],
+        [
+            -9.957538049779602,
+            35.23418375611855,
+            4.638521027420297
+        ],
+        [
+            -10.347510540397549,
+            37.29978619893973,
+            5.30501846143218
+        ],
+        [
+            -10.576007955322039,
+            39.31482188729978,
+            4.86950691623833
+        ],
+        [
+            -10.551270117779872,
+            41.39913184032059,
+            5.758397037900825
+        ],
+        [
+            -10.480071137835111,
+            43.69139249182881,
+            5.361986529942278
+        ],
+        [
+            -9.957629656474639,
+            45.72582376807624,
+            5.041898254489953
+        ],
+        [
+            -8.955584174017975,
+            47.81045489621364,
+            5.058100529726692
+        ],
+        [
+            -6.962689083684598,
+            49.97832082612125,
+            4.658700635515493
+        ],
+        [
+            -3.6277107459158833,
+            52.084841995608215,
+            4.618812266601263
+        ],
+        [
+            0.3133172261321633,
+            54.1868866041529,
+            4.429111409112081
+        ],
+        [
+            4.219970466036903,
+            56.27575043241329,
+            4.91524738759973
+        ],
+        [
+            7.543411395014317,
+            58.342852725085635,
+            4.534056929957559
+        ],
+        [
+            11.155235131489427,
+            60.433928453530115,
+            4.645388490933872
+        ],
+        [
+            14.930932315925325,
+            62.53747419665852,
+            4.441976872469831
+        ],
+        [
+            18.67080811366253,
+            64.7059428957527,
+            4.749564061262371
+        ],
+        [
+            22.369025835718364,
+            66.8335716699846,
+            4.623306975640959
+        ],
+        [
+            26.282983838952337,
+            69.06927295948326,
+            4.422146073921227
+        ],
+        [
+            30.138754590562204,
+            71.12622019972845,
+            4.719422923192442
+        ],
+        [
+            34.3655392874353,
+            73.3570895583292,
+            4.439845754278877
+        ],
+        [
+            37.33076595375245,
+            75.57176906116092,
+            4.670618713900633
+        ],
+        [
+            38.730440416512096,
+            77.59803118784264,
+            4.902210348619872
+        ],
+        [
+            39.51250434224124,
+            79.70462848950186,
+            4.842850113267372
+        ],
+        [
+            39.64147430491876,
+            82.1537133146841,
+            5.076131671282788
+        ],
+        [
+            39.226419141802225,
+            84.19741767553258,
+            5.176523014262038
+        ],
+        [
+            38.77121934848418,
+            86.29386181729338,
+            5.354318555055788
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -2.864023453270158,
+            -22.031112582974053,
+            -0.47015052376755406
+        ],
+        [
+            -1.5316767457709233,
+            -19.91530178833606,
+            -0.3014074801530177
+        ],
+        [
+            -0.987075178667487,
+            -17.61908737229419,
+            -0.2720005588082482
+        ],
+        [
+            -0.6536994462620438,
+            -15.433311365819078,
+            -0.2369041551056441
+        ],
+        [
+            -0.4034742432660643,
+            -13.266881050537476,
+            -0.14951108611574238
+        ],
+        [
+            -0.2748745900561431,
+            -11.062716306090474,
+            -0.06947765541857509
+        ],
+        [
+            -0.16466493160365658,
+            -8.954184131747501,
+            0.08647465542127236
+        ],
+        [
+            -0.10674069203857606,
+            -6.8550359309741715,
+            -0.016650457266698393
+        ],
+        [
+            -0.015677469246627496,
+            -4.52967399100519,
+            -0.06460187412222029
+        ],
+        [
+            0.023349698146308384,
+            -2.437989982004492,
+            0.04986722337588495
+        ],
+        [
+            0.006056399563233228,
+            -0.3144217297566918,
+            -0.005540453694533765
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            2.373182148941214,
+            2.21565635236124,
+            0.09499161620646451
+        ],
+        [
+            2.133956699383492,
+            4.50489535662641,
+            0.08640224277644953
+        ],
+        [
+            1.7205425146479216,
+            7.071988718147097,
+            0.0984140937096703
+        ],
+        [
+            1.3044954817017436,
+            9.125362919728765,
+            0.1631703418604213
+        ],
+        [
+            0.7735794680945345,
+            11.17516721478939,
+            0.42920134287234485
+        ],
+        [
+            0.04577999102411656,
+            13.406970222998716,
+            0.5168555505171037
+        ],
+        [
+            -0.6690310168170495,
+            15.45500199398105,
+            0.708656207463509
+        ],
+        [
+            -1.4921870280028724,
+            17.647404839378154,
+            0.9108123504232131
+        ],
+        [
+            -2.275864442234293,
+            19.70269396791479,
+            1.3032704053050577
+        ],
+        [
+            -3.033546922728232,
+            21.836149878896002,
+            1.8495133874822882
+        ],
+        [
+            -3.869214756114456,
+            24.154566712960303,
+            2.500882151723283
+        ],
+        [
+            -4.634337264146811,
+            26.239821250865923,
+            3.0203386698962
+        ],
+        [
+            -5.380262080917066,
+            28.5019858629585,
+            3.448144677610283
+        ],
+        [
+            -6.146511694493252,
+            30.83458667007234,
+            4.051358245611047
+        ],
+        [
+            -6.724837022638037,
+            33.03492524926024,
+            4.476904791719277
+        ],
+        [
+            -7.466734505192172,
+            35.23418375611855,
+            4.638521027420297
+        ],
+        [
+            -7.856706995810119,
+            37.29978619893973,
+            5.30501846143218
+        ],
+        [
+            -8.085204410734608,
+            39.31482188729978,
+            4.86950691623833
+        ],
+        [
+            -8.060466573192443,
+            41.39913184032059,
+            5.758397037900825
+        ],
+        [
+            -7.989267593247681,
+            43.69139249182881,
+            5.361986529942278
+        ],
+        [
+            -7.466826111887209,
+            45.72582376807624,
+            5.041898254489953
+        ],
+        [
+            -6.464780629430545,
+            47.81045489621364,
+            5.058100529726692
+        ],
+        [
+            -4.471885539097168,
+            49.97832082612125,
+            4.658700635515493
+        ],
+        [
+            -1.1369072013284534,
+            52.084841995608215,
+            4.618812266601263
+        ],
+        [
+            2.804120770719593,
+            54.1868866041529,
+            4.429111409112081
+        ],
+        [
+            6.710774010624333,
+            56.27575043241329,
+            4.91524738759973
+        ],
+        [
+            10.034214939601746,
+            58.342852725085635,
+            4.534056929957559
+        ],
+        [
+            13.646038676076856,
+            60.433928453530115,
+            4.645388490933872
+        ],
+        [
+            17.421735860512754,
+            62.53747419665852,
+            4.441976872469831
+        ],
+        [
+            21.16161165824996,
+            64.7059428957527,
+            4.749564061262371
+        ],
+        [
+            24.859829380305793,
+            66.8335716699846,
+            4.623306975640959
+        ],
+        [
+            28.773787383539766,
+            69.06927295948326,
+            4.422146073921227
+        ],
+        [
+            32.62955813514964,
+            71.12622019972845,
+            4.719422923192442
+        ],
+        [
+            36.856342832022726,
+            73.3570895583292,
+            4.439845754278877
+        ],
+        [
+            39.821569498339876,
+            75.57176906116092,
+            4.670618713900633
+        ],
+        [
+            41.221243961099525,
+            77.59803118784264,
+            4.902210348619872
+        ],
+        [
+            42.00330788682867,
+            79.70462848950186,
+            4.842850113267372
+        ],
+        [
+            42.13227784950619,
+            82.1537133146841,
+            5.076131671282788
+        ],
+        [
+            41.717222686389654,
+            84.19741767553258,
+            5.176523014262038
+        ],
+        [
+            41.26202289307161,
+            86.29386181729338,
+            5.354318555055788
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -0.3732199086827279,
+            -22.031112582974053,
+            -0.47015052376755406
+        ],
+        [
+            0.9591267988165066,
+            -19.91530178833606,
+            -0.3014074801530177
+        ],
+        [
+            1.503728365919943,
+            -17.61908737229419,
+            -0.2720005588082482
+        ],
+        [
+            1.8371040983253861,
+            -15.433311365819078,
+            -0.2369041551056441
+        ],
+        [
+            2.0873293013213656,
+            -13.266881050537476,
+            -0.14951108611574238
+        ],
+        [
+            2.215928954531287,
+            -11.062716306090474,
+            -0.06947765541857509
+        ],
+        [
+            2.3261386129837733,
+            -8.954184131747501,
+            0.08647465542127236
+        ],
+        [
+            2.384062852548854,
+            -6.8550359309741715,
+            -0.016650457266698393
+        ],
+        [
+            2.4751260753408024,
+            -4.52967399100519,
+            -0.06460187412222029
+        ],
+        [
+            2.5141532427337383,
+            -2.437989982004492,
+            0.04986722337588495
+        ],
+        [
+            2.496859944150663,
+            -0.3144217297566918,
+            -0.005540453694533765
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354868287.json

@@ -0,0 +1,530 @@
+{
+    "timestamp": {
+        "sec": 1754654045,
+        "nsec": 526788000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.07720363955249887,
+            1.532852415399912,
+            0.09105972236124726
+        ],
+        [
+            -0.2869756226962892,
+            3.8249474312282565,
+            0.07643217288180493
+        ],
+        [
+            -0.6674733856414541,
+            6.397150006383487,
+            0.0808212759244954
+        ],
+        [
+            -1.0575046167868027,
+            8.45582129884058,
+            0.13897852279298728
+        ],
+        [
+            -1.56361431466663,
+            10.512818459751923,
+            0.3977402061381914
+        ],
+        [
+            -2.263210773096345,
+            12.75394877521715,
+            0.4766053495751802
+        ],
+        [
+            -2.9527865601910532,
+            14.811375529108386,
+            0.6600632197097067
+        ],
+        [
+            -3.6824081208063895,
+            16.814773255359324,
+            0.7976577647970986
+        ],
+        [
+            -4.4144255965760415,
+            18.878798977987362,
+            1.1551709163798765
+        ],
+        [
+            -5.2418339109419385,
+            21.224697594489417,
+            1.7741104428466514
+        ],
+        [
+            -6.051467519110244,
+            23.555001230435348,
+            2.4158712986796864
+        ],
+        [
+            -6.792785028424335,
+            25.65098073622529,
+            2.926608291777791
+        ],
+        [
+            -7.51210125659183,
+            27.923416779069353,
+            3.3454509111374806
+        ],
+        [
+            -8.251860370225373,
+            30.266912010298153,
+            3.939435893504883
+        ],
+        [
+            -8.804374038289193,
+            32.47537358538412,
+            4.3571272019044
+        ],
+        [
+            -9.518916576625392,
+            34.68429822043555,
+            4.509936167027274
+        ],
+        [
+            -9.886232027725711,
+            36.75612600560255,
+            5.169951176527038
+        ],
+        [
+            -10.086303630981995,
+            38.773006799633734,
+            4.729027808777447
+        ],
+        [
+            -10.040008268650023,
+            40.85869023369234,
+            5.613825492757856
+        ],
+        [
+            -9.937083709583632,
+            43.14901208580784,
+            5.213198697746451
+        ],
+        [
+            -9.386716009512217,
+            45.17590090354773,
+            4.892061128251439
+        ],
+        [
+            -8.358111070572019,
+            47.247542182608214,
+            4.90991871808014
+        ],
+        [
+            -6.335260416986465,
+            49.38883414357012,
+            4.517824624993633
+        ],
+        [
+            -2.9733461147763194,
+            51.45233368907222,
+            4.493230252353444
+        ],
+        [
+            0.9953747693131039,
+            53.503271877962035,
+            4.322389631730451
+        ],
+        [
+            4.925609486782454,
+            55.542890338892605,
+            4.8271979308726145
+        ],
+        [
+            8.277474235517756,
+            57.566405559635996,
+            4.461320192582198
+        ],
+        [
+            11.915125337850133,
+            59.611228890395765,
+            4.589597726096317
+        ],
+        [
+            15.718631180028707,
+            61.66575911588373,
+            4.404073955148063
+        ],
+        [
+            19.4841690720085,
+            63.786739160483705,
+            4.729197615674485
+        ],
+        [
+            23.210061783001287,
+            65.8665058196649,
+            4.620323735123965
+        ],
+        [
+            27.153497613004212,
+            68.05141242571862,
+            4.437593899580098
+        ],
+        [
+            31.03354789356812,
+            70.05937280460442,
+            4.753312920793212
+        ],
+        [
+            35.29017512274809,
+            72.23527225348579,
+            4.494012742614654
+        ],
+        [
+            38.28218240110984,
+            74.41223020927055,
+            4.737687006273513
+        ],
+        [
+            39.706370209229036,
+            76.42086143668291,
+            4.973379968549891
+        ],
+        [
+            40.51573851767919,
+            78.51712889591454,
+            4.914341900584735
+        ],
+        [
+            40.67476467212057,
+            80.96484326082,
+            5.143416315480894
+        ],
+        [
+            40.285393065853775,
+            83.01390764184113,
+            5.237233368247357
+        ],
+        [
+            39.85610576569935,
+            85.11638461618571,
+            5.408110903233492
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -3.131210451434871,
+            -22.677843174000042,
+            -0.44108233989469414
+        ],
+        [
+            -1.7728275355401877,
+            -20.5789395579787,
+            -0.2688129377450428
+        ],
+        [
+            -1.198982724945381,
+            -18.2898399173005,
+            -0.24086214610425655
+        ],
+        [
+            -0.8377933095813059,
+            -16.108449144915603,
+            -0.2082371346101875
+        ],
+        [
+            -0.5602997564607737,
+            -13.94522648214069,
+            -0.12376494435478502
+        ],
+        [
+            -0.4038924217050006,
+            -11.742728584716613,
+            -0.04744195322417444
+        ],
+        [
+            -0.26754381110336034,
+            -9.635459971660056,
+            0.10488424651080086
+        ],
+        [
+            -0.18208329970835635,
+            -7.537448192367144,
+            -0.0021496273156869083
+        ],
+        [
+            -0.06090604344455919,
+            -5.213550805615345,
+            -0.054274565613374404
+        ],
+        [
+            0.004293114990012725,
+            -3.122303367058837,
+            0.05618587099747929
+        ],
+        [
+            0.014578380442573646,
+            -0.9988089791421757,
+            -0.003622059998584559
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.04145105260307691,
+            1.532852415399912,
+            0.09105972236124726
+        ],
+        [
+            -0.1683209305407134,
+            3.8249474312282565,
+            0.07643217288180493
+        ],
+        [
+            -0.5488186934858783,
+            6.397150006383487,
+            0.0808212759244954
+        ],
+        [
+            -0.938849924631227,
+            8.45582129884058,
+            0.13897852279298728
+        ],
+        [
+            -1.4449596225110541,
+            10.512818459751923,
+            0.3977402061381914
+        ],
+        [
+            -2.1445560809407693,
+            12.75394877521715,
+            0.4766053495751802
+        ],
+        [
+            -2.8341318680354775,
+            14.811375529108386,
+            0.6600632197097067
+        ],
+        [
+            -3.5637534286508137,
+            16.814773255359324,
+            0.7976577647970986
+        ],
+        [
+            -4.295770904420466,
+            18.878798977987362,
+            1.1551709163798765
+        ],
+        [
+            -5.123179218786363,
+            21.224697594489417,
+            1.7741104428466514
+        ],
+        [
+            -5.9328128269546685,
+            23.555001230435348,
+            2.4158712986796864
+        ],
+        [
+            -6.674130336268759,
+            25.65098073622529,
+            2.926608291777791
+        ],
+        [
+            -7.393446564436254,
+            27.923416779069353,
+            3.3454509111374806
+        ],
+        [
+            -8.133205678069796,
+            30.266912010298153,
+            3.939435893504883
+        ],
+        [
+            -8.685719346133617,
+            32.47537358538412,
+            4.3571272019044
+        ],
+        [
+            -9.400261884469817,
+            34.68429822043555,
+            4.509936167027274
+        ],
+        [
+            -9.767577335570135,
+            36.75612600560255,
+            5.169951176527038
+        ],
+        [
+            -9.967648938826418,
+            38.773006799633734,
+            4.729027808777447
+        ],
+        [
+            -9.921353576494447,
+            40.85869023369234,
+            5.613825492757856
+        ],
+        [
+            -9.818429017428056,
+            43.14901208580784,
+            5.213198697746451
+        ],
+        [
+            -9.26806131735664,
+            45.17590090354773,
+            4.892061128251439
+        ],
+        [
+            -8.239456378416442,
+            47.247542182608214,
+            4.90991871808014
+        ],
+        [
+            -6.216605724830889,
+            49.38883414357012,
+            4.517824624993633
+        ],
+        [
+            -2.8546914226207436,
+            51.45233368907222,
+            4.493230252353444
+        ],
+        [
+            1.1140294614686796,
+            53.503271877962035,
+            4.322389631730451
+        ],
+        [
+            5.04426417893803,
+            55.542890338892605,
+            4.8271979308726145
+        ],
+        [
+            8.396128927673331,
+            57.566405559635996,
+            4.461320192582198
+        ],
+        [
+            12.033780030005708,
+            59.611228890395765,
+            4.589597726096317
+        ],
+        [
+            15.837285872184282,
+            61.66575911588373,
+            4.404073955148063
+        ],
+        [
+            19.602823764164075,
+            63.786739160483705,
+            4.729197615674485
+        ],
+        [
+            23.328716475156863,
+            65.8665058196649,
+            4.620323735123965
+        ],
+        [
+            27.27215230515979,
+            68.05141242571862,
+            4.437593899580098
+        ],
+        [
+            31.152202585723696,
+            70.05937280460442,
+            4.753312920793212
+        ],
+        [
+            35.40882981490366,
+            72.23527225348579,
+            4.494012742614654
+        ],
+        [
+            38.400837093265416,
+            74.41223020927055,
+            4.737687006273513
+        ],
+        [
+            39.82502490138461,
+            76.42086143668291,
+            4.973379968549891
+        ],
+        [
+            40.63439320983476,
+            78.51712889591454,
+            4.914341900584735
+        ],
+        [
+            40.79341936427614,
+            80.96484326082,
+            5.143416315480894
+        ],
+        [
+            40.40404775800935,
+            83.01390764184113,
+            5.237233368247357
+        ],
+        [
+            39.97476045785492,
+            85.11638461618571,
+            5.408110903233492
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -3.0125557592792953,
+            -22.677843174000042,
+            -0.44108233989469414
+        ],
+        [
+            -1.654172843384612,
+            -20.5789395579787,
+            -0.2688129377450428
+        ],
+        [
+            -1.0803280327898053,
+            -18.2898399173005,
+            -0.24086214610425655
+        ],
+        [
+            -0.7191386174257302,
+            -16.108449144915603,
+            -0.2082371346101875
+        ],
+        [
+            -0.4416450643051979,
+            -13.94522648214069,
+            -0.12376494435478502
+        ],
+        [
+            -0.28523772954942483,
+            -11.742728584716613,
+            -0.04744195322417444
+        ],
+        [
+            -0.14888911894778456,
+            -9.635459971660056,
+            0.10488424651080086
+        ],
+        [
+            -0.06342860755278057,
+            -7.537448192367144,
+            -0.0021496273156869083
+        ],
+        [
+            0.05774864871101659,
+            -5.213550805615345,
+            -0.054274565613374404
+        ],
+        [
+            0.1229478071455885,
+            -3.122303367058837,
+            0.05618587099747929
+        ],
+        [
+            0.13323307259814943,
+            -0.9988089791421757,
+            -0.003622059998584559
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354868404.json

@@ -0,0 +1,520 @@
+{
+    "timestamp": {
+        "sec": 1754654061,
+        "nsec": 374767000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.025298990728275683,
+            1.0378350080500702,
+            0.1544380499709881
+        ],
+        [
+            -0.21480450922115146,
+            3.3316306117746244,
+            0.13191698215348385
+        ],
+        [
+            -0.5725629185076286,
+            5.907094106413808,
+            0.12737739706967866
+        ],
+        [
+            -0.9444161594479574,
+            7.96931655127208,
+            0.17834672258976203
+        ],
+        [
+            -1.4324494409079893,
+            10.031573127519188,
+            0.42986865993499324
+        ],
+        [
+            -2.112253121061361,
+            12.279051540140586,
+            0.5007752720718318
+        ],
+        [
+            -2.783707233842941,
+            14.34310209203246,
+            0.6769033435213728
+        ],
+        [
+            -3.495662042161973,
+            16.353323694674707,
+            0.8073325936221826
+        ],
+        [
+            -4.2095771165883,
+            18.4249402521612,
+            1.1574718906335981
+        ],
+        [
+            -5.016507848408058,
+            20.780149522042315,
+            1.7680315225467562
+        ],
+        [
+            -5.805812747093757,
+            23.119685166026997,
+            2.4014739893059134
+        ],
+        [
+            -6.528814921442119,
+            25.223857738867764,
+            2.9047230866903284
+        ],
+        [
+            -7.228215775251915,
+            27.503971816701743,
+            3.3154891788491496
+        ],
+        [
+            -7.9475106109793145,
+            29.855918597980526,
+            3.901145120168157
+        ],
+        [
+            -8.480680149192857,
+            32.070583654335245,
+            4.311058333938482
+        ],
+        [
+            -9.175747537542115,
+            34.28624153412957,
+            4.456010559204743
+        ],
+        [
+            -9.52504363990813,
+            36.36346768538745,
+            5.108800398413595
+        ],
+        [
+            -9.707086717264453,
+            38.38052477745441,
+            4.660926303027429
+        ],
+        [
+            -9.64276810540489,
+            40.4687172633423,
+            5.538651115999535
+        ],
+        [
+            -9.519429260237505,
+            42.75666370263919,
+            5.13029085813972
+        ],
+        [
+            -8.951028511365006,
+            44.77750683299257,
+            4.80253202227599
+        ],
+        [
+            -7.90416816130722,
+            46.840029559546124,
+            4.813846303562837
+        ],
+        [
+            -5.862298985495463,
+            48.962021567626635,
+            4.415457055292805
+        ],
+        [
+            -2.482273199301213,
+            50.995646428126435,
+            4.385479659189721
+        ],
+        [
+            1.5044910142309895,
+            53.0108523210133,
+            4.209594062616112
+        ],
+        [
+            5.452362964115471,
+            55.01737859672683,
+            4.709373205477738
+        ],
+        [
+            8.90195327503926,
+            57.0829204926452,
+            4.266723321957278
+        ],
+        [
+            12.833651705501458,
+            59.17197097482132,
+            4.540252709497007
+        ],
+        [
+            16.539238283350727,
+            61.219824340349305,
+            4.68486837867894
+        ],
+        [
+            20.353670931405283,
+            63.26009922472605,
+            4.628222773147363
+        ],
+        [
+            23.987213082755865,
+            65.29853820111938,
+            4.48628547667775
+        ],
+        [
+            27.790076435021874,
+            67.32765719954932,
+            4.288036923843865
+        ],
+        [
+            31.961494921466745,
+            69.41720308911422,
+            4.486219188172532
+        ],
+        [
+            35.963375928646975,
+            71.43964371594885,
+            4.334181460696775
+        ],
+        [
+            38.97438949013974,
+            73.5909026637806,
+            4.571905909743171
+        ],
+        [
+            40.6435566121395,
+            76.01074748193228,
+            4.713619448240657
+        ],
+        [
+            41.38472811229911,
+            78.13505104134455,
+            4.616689696494676
+        ],
+        [
+            41.38131012683654,
+            80.32610322941392,
+            4.973495305402127
+        ],
+        [
+            41.04927882532609,
+            82.39859454898568,
+            5.076101164250482
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -3.2109899647351963,
+            -23.078025478077095,
+            -0.2859434298662651
+        ],
+        [
+            -1.9160594078347035,
+            -21.05921214549621,
+            -0.13108802793254748
+        ],
+        [
+            -1.3220246498273713,
+            -18.775189184888273,
+            -0.11064053302692534
+        ],
+        [
+            -0.9415907442215001,
+            -16.596975799830304,
+            -0.08525589964820984
+        ],
+        [
+            -0.6450335513576455,
+            -14.436013891063212,
+            -0.008003249781690702
+        ],
+        [
+            -0.4692071152946955,
+            -12.23473659155882,
+            0.06090797257033792
+        ],
+        [
+            -0.3143146084023041,
+            -10.12824843126116,
+            0.20613594558647974
+        ],
+        [
+            -0.21027192349504276,
+            -8.031449906533982,
+            0.09201214602994079
+        ],
+        [
+            -0.0685430972083978,
+            -5.708904524593308,
+            0.03204641076824011
+        ],
+        [
+            0.015080247812027991,
+            -3.617950793619787,
+            0.1354288013455987
+        ],
+        [
+            0.04415427855091991,
+            -1.494845981227833,
+            0.0684075573723999
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.1891517524242845,
+            1.0378350080500702,
+            0.1544380499709881
+        ],
+        [
+            0.9996462339314087,
+            3.3316306117746244,
+            0.13191698215348385
+        ],
+        [
+            0.6418878246449315,
+            5.907094106413808,
+            0.12737739706967866
+        ],
+        [
+            0.27003458370460276,
+            7.96931655127208,
+            0.17834672258976203
+        ],
+        [
+            -0.21799869775542913,
+            10.031573127519188,
+            0.42986865993499324
+        ],
+        [
+            -0.8978023779088007,
+            12.279051540140586,
+            0.5007752720718318
+        ],
+        [
+            -1.569256490690381,
+            14.34310209203246,
+            0.6769033435213728
+        ],
+        [
+            -2.2812112990094127,
+            16.353323694674707,
+            0.8073325936221826
+        ],
+        [
+            -2.99512637343574,
+            18.4249402521612,
+            1.1574718906335981
+        ],
+        [
+            -3.802057105255498,
+            20.780149522042315,
+            1.7680315225467562
+        ],
+        [
+            -4.591362003941197,
+            23.119685166026997,
+            2.4014739893059134
+        ],
+        [
+            -5.3143641782895585,
+            25.223857738867764,
+            2.9047230866903284
+        ],
+        [
+            -6.0137650320993545,
+            27.503971816701743,
+            3.3154891788491496
+        ],
+        [
+            -6.733059867826754,
+            29.855918597980526,
+            3.901145120168157
+        ],
+        [
+            -7.2662294060402965,
+            32.070583654335245,
+            4.311058333938482
+        ],
+        [
+            -7.961296794389555,
+            34.28624153412957,
+            4.456010559204743
+        ],
+        [
+            -8.31059289675557,
+            36.36346768538745,
+            5.108800398413595
+        ],
+        [
+            -8.492635974111892,
+            38.38052477745441,
+            4.660926303027429
+        ],
+        [
+            -8.42831736225233,
+            40.4687172633423,
+            5.538651115999535
+        ],
+        [
+            -8.304978517084944,
+            42.75666370263919,
+            5.13029085813972
+        ],
+        [
+            -7.736577768212446,
+            44.77750683299257,
+            4.80253202227599
+        ],
+        [
+            -6.68971741815466,
+            46.840029559546124,
+            4.813846303562837
+        ],
+        [
+            -4.647848242342903,
+            48.962021567626635,
+            4.415457055292805
+        ],
+        [
+            -1.2678224561486529,
+            50.995646428126435,
+            4.385479659189721
+        ],
+        [
+            2.7189417573835497,
+            53.0108523210133,
+            4.209594062616112
+        ],
+        [
+            6.666813707268031,
+            55.01737859672683,
+            4.709373205477738
+        ],
+        [
+            10.116404018191819,
+            57.0829204926452,
+            4.266723321957278
+        ],
+        [
+            14.048102448654017,
+            59.17197097482132,
+            4.540252709497007
+        ],
+        [
+            17.753689026503288,
+            61.219824340349305,
+            4.68486837867894
+        ],
+        [
+            21.568121674557844,
+            63.26009922472605,
+            4.628222773147363
+        ],
+        [
+            25.201663825908426,
+            65.29853820111938,
+            4.48628547667775
+        ],
+        [
+            29.004527178174435,
+            67.32765719954932,
+            4.288036923843865
+        ],
+        [
+            33.175945664619306,
+            69.41720308911422,
+            4.486219188172532
+        ],
+        [
+            37.17782667179954,
+            71.43964371594885,
+            4.334181460696775
+        ],
+        [
+            40.188840233292304,
+            73.5909026637806,
+            4.571905909743171
+        ],
+        [
+            41.85800735529206,
+            76.01074748193228,
+            4.713619448240657
+        ],
+        [
+            42.59917885545167,
+            78.13505104134455,
+            4.616689696494676
+        ],
+        [
+            42.5957608699891,
+            80.32610322941392,
+            4.973495305402127
+        ],
+        [
+            42.26372956847865,
+            82.39859454898568,
+            5.076101164250482
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -1.996539221582636,
+            -23.078025478077095,
+            -0.2859434298662651
+        ],
+        [
+            -0.7016086646821433,
+            -21.05921214549621,
+            -0.13108802793254748
+        ],
+        [
+            -0.10757390667481115,
+            -18.775189184888273,
+            -0.11064053302692534
+        ],
+        [
+            0.27285999893106005,
+            -16.596975799830304,
+            -0.08525589964820984
+        ],
+        [
+            0.5694171917949147,
+            -14.436013891063212,
+            -0.008003249781690702
+        ],
+        [
+            0.7452436278578647,
+            -12.23473659155882,
+            0.06090797257033792
+        ],
+        [
+            0.9001361347502561,
+            -10.12824843126116,
+            0.20613594558647974
+        ],
+        [
+            1.0041788196575174,
+            -8.031449906533982,
+            0.09201214602994079
+        ],
+        [
+            1.1459076459441624,
+            -5.708904524593308,
+            0.03204641076824011
+        ],
+        [
+            1.2295309909645882,
+            -3.617950793619787,
+            0.1354288013455987
+        ],
+        [
+            1.25860502170348,
+            -1.494845981227833,
+            0.0684075573723999
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354868480.json

@@ -0,0 +1,520 @@
+{
+    "timestamp": {
+        "sec": 1754654067,
+        "nsec": 263501000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.00628461900259758,
+            0.8141253211426758,
+            0.13781111924776235
+        ],
+        [
+            -0.18444873981100685,
+            3.1088024110057013,
+            0.1126633357407586
+        ],
+        [
+            -0.5293707345945737,
+            5.686011461243652,
+            0.10586419218297805
+        ],
+        [
+            -0.8906833066095352,
+            7.750140958195175,
+            0.1554299277026483
+        ],
+        [
+            -1.3672170325783757,
+            9.81518884495754,
+            0.40609861032079364
+        ],
+        [
+            -2.0354533983862186,
+            12.066140652058891,
+            0.47678190334756876
+        ],
+        [
+            -2.6957540095608667,
+            14.13378475379438,
+            0.6529277955216608
+        ],
+        [
+            -3.397040743351625,
+            16.147733783241733,
+            0.7836509912338867
+        ],
+        [
+            -4.098934118167189,
+            18.223419509230602,
+            1.133996362793189
+        ],
+        [
+            -4.891184716731688,
+            20.583553279493692,
+            1.7447651820275514
+        ],
+        [
+            -5.665779027925574,
+            22.927960229808726,
+            2.378356782065485
+        ],
+        [
+            -6.375867047048852,
+            25.036478838888762,
+            2.8818031989628
+        ],
+        [
+            -7.061917325675113,
+            27.32067855185945,
+            3.2923847757236966
+        ],
+        [
+            -7.76666909718505,
+            29.677074286268244,
+            3.877838179239023
+        ],
+        [
+            -8.286822622030304,
+            31.89499400594797,
+            4.2868764889214095
+        ],
+        [
+            -8.970128147599826,
+            34.11431413205522,
+            4.431726062039374
+        ],
+        [
+            -9.305940634652279,
+            36.19424597259895,
+            5.082974353402987
+        ],
+        [
+            -9.480050679345766,
+            38.211506775274344,
+            4.632869092030399
+        ],
+        [
+            -9.401131414583322,
+            40.30067887983331,
+            5.507064297027004
+        ],
+        [
+            -9.268326936268148,
+            42.58735935153118,
+            5.094602334037711
+        ],
+        [
+            -8.69141959165514,
+            44.60483849331979,
+            4.761033673217426
+        ],
+        [
+            -7.634239868201391,
+            46.66211962512622,
+            4.764192797400517
+        ],
+        [
+            -5.583731187208022,
+            48.77327712476226,
+            4.3528268198011695
+        ],
+        [
+            -2.1937825700200744,
+            50.789940619056,
+            4.303635799619405
+        ],
+        [
+            1.9524156664232724,
+            52.8400444310969,
+            4.108156091963076
+        ],
+        [
+            6.062096782774876,
+            55.014101441650226,
+            4.639782985737202
+        ],
+        [
+            9.692917608669962,
+            57.08551344915625,
+            4.363435246729885
+        ],
+        [
+            13.617122226493581,
+            59.149059002851175,
+            4.1756275022790845
+        ],
+        [
+            17.75034917786565,
+            61.320904244185556,
+            4.013578033122981
+        ],
+        [
+            21.586147871670132,
+            63.424699992580486,
+            4.222712607386038
+        ],
+        [
+            25.313365991823897,
+            65.43113897607563,
+            4.128269035993114
+        ],
+        [
+            29.166246843847535,
+            67.47526997785485,
+            4.089122921961938
+        ],
+        [
+            33.260698212318076,
+            69.54457677812587,
+            4.271311794834938
+        ],
+        [
+            37.28117547627885,
+            71.6313641029118,
+            4.274941716096256
+        ],
+        [
+            40.075048462206,
+            73.9805358974544,
+            4.357922371853963
+        ],
+        [
+            41.28301247202002,
+            76.0098677374985,
+            4.263822166629486
+        ],
+        [
+            41.73482577366684,
+            78.15273807378206,
+            4.614327211779914
+        ],
+        [
+            41.69788852089947,
+            80.35377098854812,
+            4.622053339429453
+        ],
+        [
+            41.377559895945524,
+            82.454170644657,
+            4.750990269119297
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -3.1525373280513085,
+            -23.125721651512908,
+            -0.2841579468468438
+        ],
+        [
+            -1.9391073024394956,
+            -21.064016513875135,
+            -0.16537998974317128
+        ],
+        [
+            -1.4030943230893946,
+            -18.992551261238077,
+            -0.09061210993158464
+        ],
+        [
+            -1.0116809059527547,
+            -16.816229947269477,
+            -0.07038929500869018
+        ],
+        [
+            -0.7039810428876141,
+            -14.656662223896635,
+            0.002126593794669507
+        ],
+        [
+            -0.5168476804668991,
+            -12.456189064374271,
+            0.06681368979357172
+        ],
+        [
+            -0.3507569020174124,
+            -10.35028356284176,
+            0.20806203223039027
+        ],
+        [
+            -0.2367993000890607,
+            -8.25420632194124,
+            0.09021874499005023
+        ],
+        [
+            -0.08377200597217893,
+            -5.932491568286455,
+            0.026006201846383303
+        ],
+        [
+            0.010774342311000495,
+            -3.8418275706058367,
+            0.12577255095463197
+        ],
+        [
+            0.05012084067190159,
+            -1.7189984769992215,
+            0.05534753258018643
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.42565055771313176,
+            0.8141253211426758,
+            0.13781111924776235
+        ],
+        [
+            0.2474864369047225,
+            3.1088024110057013,
+            0.1126633357407586
+        ],
+        [
+            -0.09743555787884439,
+            5.686011461243652,
+            0.10586419218297805
+        ],
+        [
+            -0.45874812989380587,
+            7.750140958195175,
+            0.1554299277026483
+        ],
+        [
+            -0.9352818558626463,
+            9.81518884495754,
+            0.40609861032079364
+        ],
+        [
+            -1.6035182216704893,
+            12.066140652058891,
+            0.47678190334756876
+        ],
+        [
+            -2.2638188328451374,
+            14.13378475379438,
+            0.6529277955216608
+        ],
+        [
+            -2.965105566635896,
+            16.147733783241733,
+            0.7836509912338867
+        ],
+        [
+            -3.6669989414514594,
+            18.223419509230602,
+            1.133996362793189
+        ],
+        [
+            -4.459249540015959,
+            20.583553279493692,
+            1.7447651820275514
+        ],
+        [
+            -5.233843851209845,
+            22.927960229808726,
+            2.378356782065485
+        ],
+        [
+            -5.943931870333123,
+            25.036478838888762,
+            2.8818031989628
+        ],
+        [
+            -6.6299821489593835,
+            27.32067855185945,
+            3.2923847757236966
+        ],
+        [
+            -7.33473392046932,
+            29.677074286268244,
+            3.877838179239023
+        ],
+        [
+            -7.854887445314574,
+            31.89499400594797,
+            4.2868764889214095
+        ],
+        [
+            -8.538192970884097,
+            34.11431413205522,
+            4.431726062039374
+        ],
+        [
+            -8.87400545793655,
+            36.19424597259895,
+            5.082974353402987
+        ],
+        [
+            -9.048115502630036,
+            38.211506775274344,
+            4.632869092030399
+        ],
+        [
+            -8.969196237867592,
+            40.30067887983331,
+            5.507064297027004
+        ],
+        [
+            -8.836391759552418,
+            42.58735935153118,
+            5.094602334037711
+        ],
+        [
+            -8.259484414939411,
+            44.60483849331979,
+            4.761033673217426
+        ],
+        [
+            -7.202304691485661,
+            46.66211962512622,
+            4.764192797400517
+        ],
+        [
+            -5.151796010492292,
+            48.77327712476226,
+            4.3528268198011695
+        ],
+        [
+            -1.761847393304345,
+            50.789940619056,
+            4.303635799619405
+        ],
+        [
+            2.3843508431390017,
+            52.8400444310969,
+            4.108156091963076
+        ],
+        [
+            6.494031959490606,
+            55.014101441650226,
+            4.639782985737202
+        ],
+        [
+            10.124852785385691,
+            57.08551344915625,
+            4.363435246729885
+        ],
+        [
+            14.04905740320931,
+            59.149059002851175,
+            4.1756275022790845
+        ],
+        [
+            18.18228435458138,
+            61.320904244185556,
+            4.013578033122981
+        ],
+        [
+            22.01808304838586,
+            63.424699992580486,
+            4.222712607386038
+        ],
+        [
+            25.745301168539626,
+            65.43113897607563,
+            4.128269035993114
+        ],
+        [
+            29.598182020563264,
+            67.47526997785485,
+            4.089122921961938
+        ],
+        [
+            33.6926333890338,
+            69.54457677812587,
+            4.271311794834938
+        ],
+        [
+            37.71311065299457,
+            71.6313641029118,
+            4.274941716096256
+        ],
+        [
+            40.506983638921724,
+            73.9805358974544,
+            4.357922371853963
+        ],
+        [
+            41.714947648735745,
+            76.0098677374985,
+            4.263822166629486
+        ],
+        [
+            42.16676095038257,
+            78.15273807378206,
+            4.614327211779914
+        ],
+        [
+            42.129823697615194,
+            80.35377098854812,
+            4.622053339429453
+        ],
+        [
+            41.80949507266125,
+            82.454170644657,
+            4.750990269119297
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -2.720602151335579,
+            -23.125721651512908,
+            -0.2841579468468438
+        ],
+        [
+            -1.5071721257237662,
+            -21.064016513875135,
+            -0.16537998974317128
+        ],
+        [
+            -0.9711591463736653,
+            -18.992551261238077,
+            -0.09061210993158464
+        ],
+        [
+            -0.5797457292370254,
+            -16.816229947269477,
+            -0.07038929500869018
+        ],
+        [
+            -0.27204586617188475,
+            -14.656662223896635,
+            0.002126593794669507
+        ],
+        [
+            -0.08491250375116977,
+            -12.456189064374271,
+            0.06681368979357172
+        ],
+        [
+            0.08117827469831695,
+            -10.35028356284176,
+            0.20806203223039027
+        ],
+        [
+            0.19513587662666865,
+            -8.25420632194124,
+            0.09021874499005023
+        ],
+        [
+            0.3481631707435504,
+            -5.932491568286455,
+            0.026006201846383303
+        ],
+        [
+            0.44270951902672984,
+            -3.8418275706058367,
+            0.12577255095463197
+        ],
+        [
+            0.48205601738763093,
+            -1.7189984769992215,
+            0.05534753258018643
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354868593.json

@@ -0,0 +1,520 @@
+{
+    "timestamp": {
+        "sec": 1754654077,
+        "nsec": 546594000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.015414347147636676,
+            0.6175641092920579,
+            0.08422811268405345
+        ],
+        [
+            -0.18489713757432114,
+            2.912896250547238,
+            0.05885575033642593
+        ],
+        [
+            -0.5199422656043353,
+            5.491409382534311,
+            0.05263563614463368
+        ],
+        [
+            -0.8730262520641983,
+            7.556939301697149,
+            0.10315264880172614
+        ],
+        [
+            -1.3401698925159877,
+            9.623935844561636,
+            0.3554304045089943
+        ],
+        [
+            -1.999330823241534,
+            11.877478545794894,
+            0.42872547608514466
+        ],
+        [
+            -2.650655067282102,
+            13.947739423034413,
+            0.6075355238605525
+        ],
+        [
+            -3.3434318036582873,
+            15.964439620829637,
+            0.7411881925531141
+        ],
+        [
+            -4.035316230522324,
+            18.042992985575076,
+            1.0944292884429303
+        ],
+        [
+            -4.8149662279742715,
+            20.406475783965668,
+            1.708453651311347
+        ],
+        [
+            -5.5768897158815145,
+            22.754175859258076,
+            2.3452075804749555
+        ],
+        [
+            -6.275962895853989,
+            24.865673277894807,
+            2.8515763735098467
+        ],
+        [
+            -6.95085698385465,
+            27.15270953517249,
+            3.2648482847172504
+        ],
+        [
+            -7.64317003681526,
+            29.512104472391854,
+            3.8530572367045357
+        ],
+        [
+            -8.152435002519152,
+            31.732222158379976,
+            4.263869318087731
+        ],
+        [
+            -8.826360294978171,
+            33.95423009517149,
+            4.411433172979664
+        ],
+        [
+            -9.15042774745908,
+            36.03577809552011,
+            5.063467706773069
+        ],
+        [
+            -9.319364170903592,
+            38.0534586944952,
+            4.613272543158124
+        ],
+        [
+            -9.22739355882487,
+            40.142767584130496,
+            5.485863718601601
+        ],
+        [
+            -9.088170810241198,
+            42.428704639168785,
+            5.071402276851449
+        ],
+        [
+            -8.505437512499158,
+            44.44377491660764,
+            4.73342904716124
+        ],
+        [
+            -7.440355995558214,
+            46.49697478989127,
+            4.729398457510248
+        ],
+        [
+            -5.384143331401724,
+            48.60001257975098,
+            4.305116309866253
+        ],
+        [
+            -1.986805516678503,
+            50.603592693991914,
+            4.235362949173152
+        ],
+        [
+            2.1660520659818747,
+            52.63762693870022,
+            4.014962491755079
+        ],
+        [
+            6.287046714984788,
+            54.79613335766713,
+            4.521798816010675
+        ],
+        [
+            9.924156576214704,
+            56.85341630573072,
+            4.223479563532709
+        ],
+        [
+            13.855121589010457,
+            58.90175029384547,
+            4.012018397103493
+        ],
+        [
+            17.99566824951973,
+            61.05759240037723,
+            3.825055892415638
+        ],
+        [
+            21.840664383487535,
+            63.14672354309559,
+            4.011016207552676
+        ],
+        [
+            25.679618295728766,
+            65.21443034524604,
+            3.9062358142744023
+        ],
+        [
+            29.69219120617675,
+            67.35301253628974,
+            4.064534687835831
+        ],
+        [
+            34.106058417600586,
+            69.44008280215945,
+            3.7035099085629426
+        ],
+        [
+            38.05237075799075,
+            71.57330255938759,
+            3.796285006697537
+        ],
+        [
+            40.37048028292381,
+            73.63141611807814,
+            4.034312534621732
+        ],
+        [
+            41.58567634038767,
+            75.65603603058898,
+            3.932173578121523
+        ],
+        [
+            42.04773022736013,
+            77.79733480374433,
+            4.278912808613289
+        ],
+        [
+            42.01929977165949,
+            79.99849727258166,
+            4.2856537688288165
+        ],
+        [
+            41.707794128564906,
+            82.10018081254177,
+            4.415285583465348
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -3.256048918434635,
+            -23.310217693409022,
+            -0.30664610469397874
+        ],
+        [
+            -2.0340396631255846,
+            -21.2531346746668,
+            -0.19595943587869252
+        ],
+        [
+            -1.4896465618057046,
+            -19.183708280643984,
+            -0.12539745090776688
+        ],
+        [
+            -1.0897597943332844,
+            -17.008898744645617,
+            -0.10860631267862716
+        ],
+        [
+            -0.7733485950983177,
+            -14.850493305658127,
+            -0.03903314514317996
+        ],
+        [
+            -0.5773887334076768,
+            -12.650722955647735,
+            0.023381447055661364
+        ],
+        [
+            -0.40239470499228247,
+            -10.545398640781146,
+            0.16252828159558336
+        ],
+        [
+            -0.28105871828047135,
+            -8.449837132366376,
+            0.04289250941565509
+        ],
+        [
+            -0.1194784672473137,
+            -6.1287621436925015,
+            -0.023460487567575183
+        ],
+        [
+            -0.01632404288547562,
+            -4.038425603127152,
+            0.07462416718457515
+        ],
+        [
+            0.030777855777994745,
+            -1.9158006409078894,
+            0.0028197681900719584
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            2.8756231881797722,
+            0.6175641092920579,
+            0.08422811268405345
+        ],
+        [
+            2.706140397753088,
+            2.912896250547238,
+            0.05885575033642593
+        ],
+        [
+            2.3710952697230736,
+            5.491409382534311,
+            0.05263563614463368
+        ],
+        [
+            2.0180112832632107,
+            7.556939301697149,
+            0.10315264880172614
+        ],
+        [
+            1.5508676428114212,
+            9.623935844561636,
+            0.3554304045089943
+        ],
+        [
+            0.8917067120858748,
+            11.877478545794894,
+            0.42872547608514466
+        ],
+        [
+            0.24038246804530683,
+            13.947739423034413,
+            0.6075355238605525
+        ],
+        [
+            -0.45239426833087837,
+            15.964439620829637,
+            0.7411881925531141
+        ],
+        [
+            -1.1442786951949149,
+            18.042992985575076,
+            1.0944292884429303
+        ],
+        [
+            -1.9239286926468626,
+            20.406475783965668,
+            1.708453651311347
+        ],
+        [
+            -2.6858521805541056,
+            22.754175859258076,
+            2.3452075804749555
+        ],
+        [
+            -3.38492536052658,
+            24.865673277894807,
+            2.8515763735098467
+        ],
+        [
+            -4.059819448527241,
+            27.15270953517249,
+            3.2648482847172504
+        ],
+        [
+            -4.752132501487851,
+            29.512104472391854,
+            3.8530572367045357
+        ],
+        [
+            -5.261397467191743,
+            31.732222158379976,
+            4.263869318087731
+        ],
+        [
+            -5.935322759650762,
+            33.95423009517149,
+            4.411433172979664
+        ],
+        [
+            -6.259390212131671,
+            36.03577809552011,
+            5.063467706773069
+        ],
+        [
+            -6.428326635576183,
+            38.0534586944952,
+            4.613272543158124
+        ],
+        [
+            -6.336356023497461,
+            40.142767584130496,
+            5.485863718601601
+        ],
+        [
+            -6.1971332749137895,
+            42.428704639168785,
+            5.071402276851449
+        ],
+        [
+            -5.614399977171749,
+            44.44377491660764,
+            4.73342904716124
+        ],
+        [
+            -4.549318460230805,
+            46.49697478989127,
+            4.729398457510248
+        ],
+        [
+            -2.493105796074315,
+            48.60001257975098,
+            4.305116309866253
+        ],
+        [
+            0.9042320186489059,
+            50.603592693991914,
+            4.235362949173152
+        ],
+        [
+            5.057089601309284,
+            52.63762693870022,
+            4.014962491755079
+        ],
+        [
+            9.178084250312196,
+            54.79613335766713,
+            4.521798816010675
+        ],
+        [
+            12.815194111542112,
+            56.85341630573072,
+            4.223479563532709
+        ],
+        [
+            16.746159124337865,
+            58.90175029384547,
+            4.012018397103493
+        ],
+        [
+            20.88670578484714,
+            61.05759240037723,
+            3.825055892415638
+        ],
+        [
+            24.731701918814945,
+            63.14672354309559,
+            4.011016207552676
+        ],
+        [
+            28.570655831056175,
+            65.21443034524604,
+            3.9062358142744023
+        ],
+        [
+            32.58322874150416,
+            67.35301253628974,
+            4.064534687835831
+        ],
+        [
+            36.99709595292799,
+            69.44008280215945,
+            3.7035099085629426
+        ],
+        [
+            40.94340829331816,
+            71.57330255938759,
+            3.796285006697537
+        ],
+        [
+            43.261517818251214,
+            73.63141611807814,
+            4.034312534621732
+        ],
+        [
+            44.47671387571508,
+            75.65603603058898,
+            3.932173578121523
+        ],
+        [
+            44.93876776268753,
+            77.79733480374433,
+            4.278912808613289
+        ],
+        [
+            44.9103373069869,
+            79.99849727258166,
+            4.2856537688288165
+        ],
+        [
+            44.59883166389231,
+            82.10018081254177,
+            4.415285583465348
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -0.3650113831072259,
+            -23.310217693409022,
+            -0.30664610469397874
+        ],
+        [
+            0.8569978722018243,
+            -21.2531346746668,
+            -0.19595943587869252
+        ],
+        [
+            1.4013909735217043,
+            -19.183708280643984,
+            -0.12539745090776688
+        ],
+        [
+            1.8012777409941245,
+            -17.008898744645617,
+            -0.10860631267862716
+        ],
+        [
+            2.1176889402290913,
+            -14.850493305658127,
+            -0.03903314514317996
+        ],
+        [
+            2.313648801919732,
+            -12.650722955647735,
+            0.023381447055661364
+        ],
+        [
+            2.4886428303351265,
+            -10.545398640781146,
+            0.16252828159558336
+        ],
+        [
+            2.6099788170469376,
+            -8.449837132366376,
+            0.04289250941565509
+        ],
+        [
+            2.7715590680800952,
+            -6.1287621436925015,
+            -0.023460487567575183
+        ],
+        [
+            2.8747134924419333,
+            -4.038425603127152,
+            0.07462416718457515
+        ],
+        [
+            2.9218153911054037,
+            -1.9158006409078894,
+            0.0028197681900719584
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354868799.json

@@ -0,0 +1,520 @@
+{
+    "timestamp": {
+        "sec": 1754654092,
+        "nsec": 654218000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -1.7763568394002505e-15,
+            0.0,
+            0.0
+        ],
+        [
+            -0.1446772089815962,
+            2.296901857538245,
+            -0.035045309809594666
+        ],
+        [
+            -0.4518574771362047,
+            4.878833284739088,
+            -0.052200121264892485
+        ],
+        [
+            -0.7826388944431155,
+            6.9482480417837245,
+            -0.010482807001227057
+        ],
+        [
+            -1.2275434510912806,
+            9.021204952536404,
+            0.23293357841549048
+        ],
+        [
+            -1.8623634958902304,
+            11.282019627115393,
+            0.29649869718212396
+        ],
+        [
+            -2.4913713448398287,
+            13.35992166729363,
+            0.4663475749290974
+        ],
+        [
+            -3.16238836687255,
+            15.384525189287142,
+            0.5912437917405461
+        ],
+        [
+            -3.8319388235896135,
+            17.47188692771152,
+            0.9354683999963997
+        ],
+        [
+            -4.5862842083216036,
+            19.84619772474559,
+            1.539241747066295
+        ],
+        [
+            -5.323084225933559,
+            22.20463058791,
+            2.165818777646841
+        ],
+        [
+            -5.999532544404759,
+            24.325652518069415,
+            2.6630286514892294
+        ],
+        [
+            -6.649868049882661,
+            26.6215509330849,
+            3.0664202019190028
+        ],
+        [
+            -7.3169147288297856,
+            28.99072322720583,
+            3.6444366144449996
+        ],
+        [
+            -7.802352317998661,
+            31.21790912052578,
+            4.045726104413895
+        ],
+        [
+            -8.452308023319787,
+            33.4476613063148,
+            4.183684189862406
+        ],
+        [
+            -8.75415797975863,
+            35.535296750638594,
+            4.826860433339125
+        ],
+        [
+            -8.901105878616828,
+            37.55278218303846,
+            4.368156776209
+        ],
+        [
+            -8.786952253298633,
+            39.6446093010797,
+            5.232051357342015
+        ],
+        [
+            -8.62287758309314,
+            41.92715582087527,
+            4.808105172568456
+        ],
+        [
+            -8.018275661337348,
+            43.93438560117515,
+            4.461987636768116
+        ],
+        [
+            -6.9310842756950235,
+            45.97593228076357,
+            4.449877761432218
+        ],
+        [
+            -4.852102374823028,
+            48.05485474660156,
+            4.017778879802474
+        ],
+        [
+            -1.2491984259642628,
+            50.09124192739412,
+            3.8479614625633887
+        ],
+        [
+            3.2718072930340423,
+            52.219450679616514,
+            4.409292759764667
+        ],
+        [
+            7.034127779344754,
+            54.21989030756197,
+            3.9464244039191
+        ],
+        [
+            10.972167125254174,
+            56.34824672839848,
+            3.999427312699495
+        ],
+        [
+            15.073673918590593,
+            58.467740156999824,
+            3.9069960347033974
+        ],
+        [
+            19.296886340308514,
+            60.531445867498334,
+            3.8028575147970582
+        ],
+        [
+            22.963057739886807,
+            62.58646894319406,
+            3.754003932192997
+        ],
+        [
+            27.078404440165485,
+            64.6565426073606,
+            3.7832292494108013
+        ],
+        [
+            31.087715445198718,
+            66.66589944907534,
+            3.379934866899019
+        ],
+        [
+            35.335680446012994,
+            68.75494817598917,
+            3.690497319310145
+        ],
+        [
+            39.25257501796253,
+            70.81111885619333,
+            3.544499005582896
+        ],
+        [
+            41.50403137881878,
+            72.93620635647454,
+            3.7447205057454798
+        ],
+        [
+            42.560327478078015,
+            75.21313982975254,
+            3.803052385142473
+        ],
+        [
+            43.04231421648177,
+            77.31197157400419,
+            3.8161911495592924
+        ],
+        [
+            42.90509252476689,
+            79.39783889745995,
+            3.9026186682870736
+        ],
+        [
+            42.51591279838139,
+            81.50945980789521,
+            4.039708995440803
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -3.4986496729910286,
+            -23.8928272542508,
+            -0.2923924422998303
+        ],
+        [
+            -2.2545466696677146,
+            -21.848611878057994,
+            -0.18972834160819319
+        ],
+        [
+            -1.687869871567603,
+            -19.784906257647286,
+            -0.12755952670662885
+        ],
+        [
+            -1.2645301332095205,
+            -17.614489453768485,
+            -0.11966963700949729
+        ],
+        [
+            -0.9248607129353807,
+            -15.459353582108912,
+            -0.05896896724576306
+        ],
+        [
+            -0.7051858902534391,
+            -13.261585125081735,
+            -0.005656463327504746
+        ],
+        [
+            -0.5075281998590544,
+            -11.157708950918027,
+            0.12477245802905526
+        ],
+        [
+            -0.363520554166481,
+            -9.064098463164711,
+            -0.0035634245503466944
+        ],
+        [
+            -0.1768586184854808,
+            -6.745201139705511,
+            -0.07954056454355854
+        ],
+        [
+            -0.05118067562921169,
+            -4.6557079672729955,
+            0.009855322516846426
+        ],
+        [
+            0.018869062584052188,
+            -2.5340342615436846,
+            -0.07079770843732985
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.8057054563883321,
+            0.0,
+            0.0
+        ],
+        [
+            0.6610282474067377,
+            2.296901857538245,
+            -0.035045309809594666
+        ],
+        [
+            0.3538479792521292,
+            4.878833284739088,
+            -0.052200121264892485
+        ],
+        [
+            0.02306656194521839,
+            6.9482480417837245,
+            -0.010482807001227057
+        ],
+        [
+            -0.4218379947029467,
+            9.021204952536404,
+            0.23293357841549048
+        ],
+        [
+            -1.0566580395018965,
+            11.282019627115393,
+            0.29649869718212396
+        ],
+        [
+            -1.6856658884514948,
+            13.35992166729363,
+            0.4663475749290974
+        ],
+        [
+            -2.356682910484216,
+            15.384525189287142,
+            0.5912437917405461
+        ],
+        [
+            -3.0262333672012796,
+            17.47188692771152,
+            0.9354683999963997
+        ],
+        [
+            -3.7805787519332696,
+            19.84619772474559,
+            1.539241747066295
+        ],
+        [
+            -4.517378769545225,
+            22.20463058791,
+            2.165818777646841
+        ],
+        [
+            -5.193827088016425,
+            24.325652518069415,
+            2.6630286514892294
+        ],
+        [
+            -5.844162593494327,
+            26.6215509330849,
+            3.0664202019190028
+        ],
+        [
+            -6.511209272441452,
+            28.99072322720583,
+            3.6444366144449996
+        ],
+        [
+            -6.996646861610327,
+            31.21790912052578,
+            4.045726104413895
+        ],
+        [
+            -7.6466025669314535,
+            33.4476613063148,
+            4.183684189862406
+        ],
+        [
+            -7.948452523370297,
+            35.535296750638594,
+            4.826860433339125
+        ],
+        [
+            -8.095400422228494,
+            37.55278218303846,
+            4.368156776209
+        ],
+        [
+            -7.981246796910299,
+            39.6446093010797,
+            5.232051357342015
+        ],
+        [
+            -7.817172126704807,
+            41.92715582087527,
+            4.808105172568456
+        ],
+        [
+            -7.212570204949015,
+            43.93438560117515,
+            4.461987636768116
+        ],
+        [
+            -6.12537881930669,
+            45.97593228076357,
+            4.449877761432218
+        ],
+        [
+            -4.046396918434694,
+            48.05485474660156,
+            4.017778879802474
+        ],
+        [
+            -0.4434929695759289,
+            50.09124192739412,
+            3.8479614625633887
+        ],
+        [
+            4.077512749422376,
+            52.219450679616514,
+            4.409292759764667
+        ],
+        [
+            7.839833235733088,
+            54.21989030756197,
+            3.9464244039191
+        ],
+        [
+            11.777872581642509,
+            56.34824672839848,
+            3.999427312699495
+        ],
+        [
+            15.879379374978928,
+            58.467740156999824,
+            3.9069960347033974
+        ],
+        [
+            20.10259179669685,
+            60.531445867498334,
+            3.8028575147970582
+        ],
+        [
+            23.768763196275142,
+            62.58646894319406,
+            3.754003932192997
+        ],
+        [
+            27.88410989655382,
+            64.6565426073606,
+            3.7832292494108013
+        ],
+        [
+            31.893420901587053,
+            66.66589944907534,
+            3.379934866899019
+        ],
+        [
+            36.141385902401325,
+            68.75494817598917,
+            3.690497319310145
+        ],
+        [
+            40.05828047435086,
+            70.81111885619333,
+            3.544499005582896
+        ],
+        [
+            42.30973683520711,
+            72.93620635647454,
+            3.7447205057454798
+        ],
+        [
+            43.36603293446635,
+            75.21313982975254,
+            3.803052385142473
+        ],
+        [
+            43.8480196728701,
+            77.31197157400419,
+            3.8161911495592924
+        ],
+        [
+            43.710797981155224,
+            79.39783889745995,
+            3.9026186682870736
+        ],
+        [
+            43.321618254769724,
+            81.50945980789521,
+            4.039708995440803
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -2.6929442166026947,
+            -23.8928272542508,
+            -0.2923924422998303
+        ],
+        [
+            -1.4488412132793806,
+            -21.848611878057994,
+            -0.18972834160819319
+        ],
+        [
+            -0.8821644151792691,
+            -19.784906257647286,
+            -0.12755952670662885
+        ],
+        [
+            -0.45882467682118655,
+            -17.614489453768485,
+            -0.11966963700949729
+        ],
+        [
+            -0.11915525654704684,
+            -15.459353582108912,
+            -0.05896896724576306
+        ],
+        [
+            0.10051956613489477,
+            -13.261585125081735,
+            -0.005656463327504746
+        ],
+        [
+            0.2981772565292795,
+            -11.157708950918027,
+            0.12477245802905526
+        ],
+        [
+            0.4421849022218529,
+            -9.064098463164711,
+            -0.0035634245503466944
+        ],
+        [
+            0.6288468379028531,
+            -6.745201139705511,
+            -0.07954056454355854
+        ],
+        [
+            0.7545247807591222,
+            -4.6557079672729955,
+            0.009855322516846426
+        ],
+        [
+            0.8245745189723861,
+            -2.5340342615436846,
+            -0.07079770843732985
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354868882.json

@@ -0,0 +1,520 @@
+{
+    "timestamp": {
+        "sec": 1754654107,
+        "nsec": 512924000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            0.005407509330616733,
+            0.45053673907316494,
+            -0.1481615498507024
+        ],
+        [
+            -0.1476750265493365,
+            2.613441813776312,
+            -0.015443713001435544
+        ],
+        [
+            -0.410263823296658,
+            4.6945099168375,
+            -0.04501679808042203
+        ],
+        [
+            -0.7770497778077434,
+            6.8227119367896165,
+            0.16218562118906177
+        ],
+        [
+            -1.1887627385446962,
+            8.899065536129271,
+            0.18744185462720164
+        ],
+        [
+            -1.8107297064212062,
+            11.22089651943513,
+            0.39389932198187305
+        ],
+        [
+            -2.550415666410455,
+            13.639744253685585,
+            0.4815807177517749
+        ],
+        [
+            -3.322162451852778,
+            15.902936798303472,
+            0.7460748106130061
+        ],
+        [
+            -3.9748948507104833,
+            18.003198177720563,
+            1.0418060906908035
+        ],
+        [
+            -4.657992466161325,
+            20.281955997458496,
+            1.761435106541096
+        ],
+        [
+            -5.266901408524733,
+            22.3576307505868,
+            2.200523631324656
+        ],
+        [
+            -5.914498243336978,
+            24.39466705475666,
+            2.618828066497346
+        ],
+        [
+            -6.567109084576384,
+            26.499076984829358,
+            2.942125044756097
+        ],
+        [
+            -7.000675178840841,
+            28.521484659286415,
+            3.6288359221582738
+        ],
+        [
+            -7.465448044987416,
+            30.75320547629874,
+            4.029395891387272
+        ],
+        [
+            -8.093140478078247,
+            32.989430956981174,
+            4.165658399943801
+        ],
+        [
+            -8.37721366953572,
+            35.0794926067541,
+            4.809052172695483
+        ],
+        [
+            -8.500591289351293,
+            37.09880294481275,
+            4.351434514024951
+        ],
+        [
+            -8.369954965786278,
+            39.18855666813006,
+            5.218007716993913
+        ],
+        [
+            -8.179799792702712,
+            41.46966764138307,
+            4.797242678198875
+        ],
+        [
+            -7.552453966990456,
+            43.47085300140077,
+            4.456645271992785
+        ],
+        [
+            -6.444177551037564,
+            45.50106339488633,
+            4.4529375692253454
+        ],
+        [
+            -4.341306197415901,
+            47.55877593303414,
+            4.035151754373206
+        ],
+        [
+            -0.5363629602906688,
+            49.59691608940035,
+            4.080778762772651
+        ],
+        [
+            3.8227301371320834,
+            51.6388240925085,
+            4.4787376418170455
+        ],
+        [
+            7.948707514351675,
+            53.77238136835733,
+            3.6438868750583016
+        ],
+        [
+            11.839164636012107,
+            55.83881613936799,
+            4.07362002897331
+        ],
+        [
+            15.935286013576235,
+            57.87313189032483,
+            3.9631651808044523
+        ],
+        [
+            20.312425656477707,
+            59.968522368040766,
+            3.8290036407723846
+        ],
+        [
+            24.305187600622354,
+            62.10087298194399,
+            3.826282784687211
+        ],
+        [
+            28.318692720489743,
+            64.14334564585357,
+            3.678744662104302
+        ],
+        [
+            32.507950570327914,
+            66.18170136922478,
+            4.0093775752621905
+        ],
+        [
+            37.01021222969626,
+            68.21597440855851,
+            3.5790387562199637
+        ],
+        [
+            40.83184594071064,
+            70.50598532586608,
+            3.8217340916995797
+        ],
+        [
+            42.57008341645722,
+            72.51031573822684,
+            3.9790125705800925
+        ],
+        [
+            43.60584212286344,
+            74.8479928781537,
+            4.01304336968935
+        ],
+        [
+            43.860616563365305,
+            77.28954288822392,
+            4.220392231065686
+        ],
+        [
+            43.55141495309759,
+            79.35290555332239,
+            4.297888045221075
+        ],
+        [
+            43.20470075024341,
+            81.47184335037808,
+            4.452121697301312
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -3.5135915766651777,
+            -24.156273069826206,
+            -0.3326795119972959
+        ],
+        [
+            -2.2284632093250405,
+            -21.942556934843722,
+            -0.29955885401940313
+        ],
+        [
+            -1.6191210395992002,
+            -19.4179076855829,
+            -0.2627613699400447
+        ],
+        [
+            -1.225874190464344,
+            -17.074786580729786,
+            -0.14029854495449684
+        ],
+        [
+            -0.9197525376121423,
+            -14.970784228059413,
+            -0.06321822028876989
+        ],
+        [
+            -0.665759876057356,
+            -12.838365238010823,
+            -0.08291915093846514
+        ],
+        [
+            -0.4741057451494015,
+            -10.58125723082646,
+            0.03484558663670645
+        ],
+        [
+            -0.2779430881669729,
+            -8.337039852180855,
+            -0.010332727537840647
+        ],
+        [
+            -0.0935627614325476,
+            -6.1368935568352185,
+            -0.14838529625418434
+        ],
+        [
+            -0.008512705736679393,
+            -3.8652355373090934,
+            -0.14994268566319852
+        ],
+        [
+            0.03133454935398028,
+            -1.5789102177077474,
+            -0.14936482966493678
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.7162491590987727,
+            0.45053673907316494,
+            -0.1481615498507024
+        ],
+        [
+            1.5631666232188195,
+            2.613441813776312,
+            -0.015443713001435544
+        ],
+        [
+            1.300577826471498,
+            4.6945099168375,
+            -0.04501679808042203
+        ],
+        [
+            0.9337918719604126,
+            6.8227119367896165,
+            0.16218562118906177
+        ],
+        [
+            0.5220789112234598,
+            8.899065536129271,
+            0.18744185462720164
+        ],
+        [
+            -0.09988805665305023,
+            11.22089651943513,
+            0.39389932198187305
+        ],
+        [
+            -0.8395740166422989,
+            13.639744253685585,
+            0.4815807177517749
+        ],
+        [
+            -1.611320802084622,
+            15.902936798303472,
+            0.7460748106130061
+        ],
+        [
+            -2.2640532009423273,
+            18.003198177720563,
+            1.0418060906908035
+        ],
+        [
+            -2.947150816393169,
+            20.281955997458496,
+            1.761435106541096
+        ],
+        [
+            -3.556059758756577,
+            22.3576307505868,
+            2.200523631324656
+        ],
+        [
+            -4.203656593568822,
+            24.39466705475666,
+            2.618828066497346
+        ],
+        [
+            -4.856267434808228,
+            26.499076984829358,
+            2.942125044756097
+        ],
+        [
+            -5.289833529072685,
+            28.521484659286415,
+            3.6288359221582738
+        ],
+        [
+            -5.75460639521926,
+            30.75320547629874,
+            4.029395891387272
+        ],
+        [
+            -6.382298828310091,
+            32.989430956981174,
+            4.165658399943801
+        ],
+        [
+            -6.666372019767564,
+            35.0794926067541,
+            4.809052172695483
+        ],
+        [
+            -6.789749639583137,
+            37.09880294481275,
+            4.351434514024951
+        ],
+        [
+            -6.6591133160181215,
+            39.18855666813006,
+            5.218007716993913
+        ],
+        [
+            -6.4689581429345555,
+            41.46966764138307,
+            4.797242678198875
+        ],
+        [
+            -5.8416123172223,
+            43.47085300140077,
+            4.456645271992785
+        ],
+        [
+            -4.733335901269408,
+            45.50106339488633,
+            4.4529375692253454
+        ],
+        [
+            -2.630464547647745,
+            47.55877593303414,
+            4.035151754373206
+        ],
+        [
+            1.1744786894774872,
+            49.59691608940035,
+            4.080778762772651
+        ],
+        [
+            5.533571786900239,
+            51.6388240925085,
+            4.4787376418170455
+        ],
+        [
+            9.65954916411983,
+            53.77238136835733,
+            3.6438868750583016
+        ],
+        [
+            13.550006285780263,
+            55.83881613936799,
+            4.07362002897331
+        ],
+        [
+            17.64612766334439,
+            57.87313189032483,
+            3.9631651808044523
+        ],
+        [
+            22.023267306245863,
+            59.968522368040766,
+            3.8290036407723846
+        ],
+        [
+            26.01602925039051,
+            62.10087298194399,
+            3.826282784687211
+        ],
+        [
+            30.0295343702579,
+            64.14334564585357,
+            3.678744662104302
+        ],
+        [
+            34.21879222009607,
+            66.18170136922478,
+            4.0093775752621905
+        ],
+        [
+            38.721053879464414,
+            68.21597440855851,
+            3.5790387562199637
+        ],
+        [
+            42.5426875904788,
+            70.50598532586608,
+            3.8217340916995797
+        ],
+        [
+            44.28092506622538,
+            72.51031573822684,
+            3.9790125705800925
+        ],
+        [
+            45.3166837726316,
+            74.8479928781537,
+            4.01304336968935
+        ],
+        [
+            45.57145821313346,
+            77.28954288822392,
+            4.220392231065686
+        ],
+        [
+            45.26225660286575,
+            79.35290555332239,
+            4.297888045221075
+        ],
+        [
+            44.91554240001157,
+            81.47184335037808,
+            4.452121697301312
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -1.8027499268970217,
+            -24.156273069826206,
+            -0.3326795119972959
+        ],
+        [
+            -0.5176215595568845,
+            -21.942556934843722,
+            -0.29955885401940313
+        ],
+        [
+            0.09172061016895583,
+            -19.4179076855829,
+            -0.2627613699400447
+        ],
+        [
+            0.484967459303812,
+            -17.074786580729786,
+            -0.14029854495449684
+        ],
+        [
+            0.7910891121560137,
+            -14.970784228059413,
+            -0.06321822028876989
+        ],
+        [
+            1.0450817737108,
+            -12.838365238010823,
+            -0.08291915093846514
+        ],
+        [
+            1.2367359046187545,
+            -10.58125723082646,
+            0.03484558663670645
+        ],
+        [
+            1.4328985616011831,
+            -8.337039852180855,
+            -0.010332727537840647
+        ],
+        [
+            1.6172788883356084,
+            -6.1368935568352185,
+            -0.14838529625418434
+        ],
+        [
+            1.7023289440314766,
+            -3.8652355373090934,
+            -0.14994268566319852
+        ],
+        [
+            1.7421761991221363,
+            -1.5789102177077474,
+            -0.14936482966493678
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354868989.json

@@ -0,0 +1,510 @@
+{
+    "timestamp": {
+        "sec": 1754654116,
+        "nsec": 323906000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            0.015507715362199193,
+            0.1686138225022411,
+            -0.04824032934618838
+        ],
+        [
+            -0.1270105264222945,
+            2.332091727970461,
+            0.08688388201315506
+        ],
+        [
+            -0.3786934790160874,
+            4.4145313897642495,
+            0.05908748874225933
+        ],
+        [
+            -0.7354391065445878,
+            6.544307343612168,
+            0.26764338138611843
+        ],
+        [
+            -1.1365244128041816,
+            8.622726745299303,
+            0.2939697303572252
+        ],
+        [
+            -1.747440134063341,
+            10.94745111047368,
+            0.5008641901138698
+        ],
+        [
+            -2.475012621081145,
+            13.369969070331926,
+            0.5885723331620129
+        ],
+        [
+            -3.2362802179303696,
+            15.636748855153627,
+            0.8527158038821765
+        ],
+        [
+            -3.879525472937753,
+            17.739939252304488,
+            1.1484185797380504
+        ],
+        [
+            -4.554202654675017,
+            20.02117844312066,
+            1.868129583150158
+        ],
+        [
+            -5.1544257829636395,
+            22.09935198910599,
+            2.3073577954671562
+        ],
+        [
+            -5.793438056627091,
+            24.139117477316297,
+            2.7255649602355287
+        ],
+        [
+            -6.436669740192241,
+            26.246416569736716,
+            3.0488396675434783
+        ],
+        [
+            -6.862992430711576,
+            28.270064150685457,
+            3.7364322944743256
+        ],
+        [
+            -7.3180952211761845,
+            30.503590000686096,
+            4.138033637389517
+        ],
+        [
+            -7.934849309516373,
+            32.742839475451206,
+            4.274583432449023
+        ],
+        [
+            -8.21112953075166,
+            34.83342761495079,
+            4.919658075501921
+        ],
+        [
+            -8.321914159182526,
+            36.85399782625197,
+            4.464385643550703
+        ],
+        [
+            -8.184544507287892,
+            38.94181381636472,
+            5.33458077076348
+        ],
+        [
+            -7.980623338606153,
+            41.222505236257994,
+            4.91800870712186
+        ],
+        [
+            -7.203322796457037,
+            43.57436922331251,
+            4.5790283100871605
+        ],
+        [
+            -5.852336958755384,
+            45.65863789628366,
+            4.4730141180295675
+        ],
+        [
+            -3.2350057628234854,
+            47.76147993317179,
+            4.384919571155947
+        ],
+        [
+            0.6521386456896909,
+            49.85914767538569,
+            4.36857651495422
+        ],
+        [
+            5.247031990155353,
+            51.892880635446666,
+            4.256321609254198
+        ],
+        [
+            9.437933947476349,
+            54.0433838427516,
+            4.268331935652752
+        ],
+        [
+            13.294314934327112,
+            56.072638906782764,
+            4.267080075907455
+        ],
+        [
+            17.624115647357552,
+            58.13757998859665,
+            4.248090803505053
+        ],
+        [
+            21.67442317079455,
+            60.19820863593272,
+            4.224134077755339
+        ],
+        [
+            25.907094225088915,
+            62.32875087583377,
+            4.154231441710025
+        ],
+        [
+            30.170515621433754,
+            64.46263158215265,
+            4.007266252743365
+        ],
+        [
+            34.878814105368235,
+            66.63885004206352,
+            4.076249340332787
+        ],
+        [
+            39.15438118746201,
+            68.71897041501313,
+            4.236330825939735
+        ],
+        [
+            42.29102457966842,
+            71.11081616126776,
+            4.376517843014993
+        ],
+        [
+            43.58334318592958,
+            73.22029291638407,
+            4.264701707259704
+        ],
+        [
+            44.07461631377009,
+            75.23160931820235,
+            4.632914897476545
+        ],
+        [
+            44.10409238704693,
+            77.43276645721295,
+            4.635805582654947
+        ],
+        [
+            43.84663855644038,
+            79.5421618559466,
+            4.75861621774923
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -3.629773571600529,
+            -24.419359827024074,
+            -0.28481286802869726
+        ],
+        [
+            -2.3333856060840628,
+            -22.212376309558522,
+            -0.2424687856976827
+        ],
+        [
+            -1.711176876855225,
+            -19.690970551922728,
+            -0.19916671800471528
+        ],
+        [
+            -1.306399064512437,
+            -17.350093221566244,
+            -0.071475736631395
+        ],
+        [
+            -0.9897676421465018,
+            -15.247815632162474,
+            0.010079289573043826
+        ],
+        [
+            -0.7246625713960473,
+            -13.116714411112776,
+            -0.005349093844664643
+        ],
+        [
+            -0.5218952481834833,
+            -10.860798532708474,
+            0.11657447896452455
+        ],
+        [
+            -0.3139210669688435,
+            -8.617564924820464,
+            0.07555946865326968
+        ],
+        [
+            -0.11752071796929542,
+            -6.418208804190435,
+            -0.05844760242546232
+        ],
+        [
+            -0.02071936152334075,
+            -4.1470216519445415,
+            -0.05632346109018321
+        ],
+        [
+            0.030946111124055875,
+            -1.8609364107989137,
+            -0.052254817798443876
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            3.6912321417079452,
+            0.1686138225022411,
+            -0.04824032934618838
+        ],
+        [
+            3.5487138999234515,
+            2.332091727970461,
+            0.08688388201315506
+        ],
+        [
+            3.2970309473296586,
+            4.4145313897642495,
+            0.05908748874225933
+        ],
+        [
+            2.9402853198011583,
+            6.544307343612168,
+            0.26764338138611843
+        ],
+        [
+            2.5392000135415644,
+            8.622726745299303,
+            0.2939697303572252
+        ],
+        [
+            1.928284292282405,
+            10.94745111047368,
+            0.5008641901138698
+        ],
+        [
+            1.2007118052646009,
+            13.369969070331926,
+            0.5885723331620129
+        ],
+        [
+            0.43944420841537646,
+            15.636748855153627,
+            0.8527158038821765
+        ],
+        [
+            -0.20380104659200704,
+            17.739939252304488,
+            1.1484185797380504
+        ],
+        [
+            -0.8784782283292714,
+            20.02117844312066,
+            1.868129583150158
+        ],
+        [
+            -1.4787013566178935,
+            22.09935198910599,
+            2.3073577954671562
+        ],
+        [
+            -2.1177136302813446,
+            24.139117477316297,
+            2.7255649602355287
+        ],
+        [
+            -2.760945313846495,
+            26.246416569736716,
+            3.0488396675434783
+        ],
+        [
+            -3.18726800436583,
+            28.270064150685457,
+            3.7364322944743256
+        ],
+        [
+            -3.6423707948304385,
+            30.503590000686096,
+            4.138033637389517
+        ],
+        [
+            -4.259124883170627,
+            32.742839475451206,
+            4.274583432449023
+        ],
+        [
+            -4.535405104405913,
+            34.83342761495079,
+            4.919658075501921
+        ],
+        [
+            -4.64618973283678,
+            36.85399782625197,
+            4.464385643550703
+        ],
+        [
+            -4.508820080942146,
+            38.94181381636472,
+            5.33458077076348
+        ],
+        [
+            -4.304898912260407,
+            41.222505236257994,
+            4.91800870712186
+        ],
+        [
+            -3.527598370111291,
+            43.57436922331251,
+            4.5790283100871605
+        ],
+        [
+            -2.1766125324096377,
+            45.65863789628366,
+            4.4730141180295675
+        ],
+        [
+            0.44071866352226063,
+            47.76147993317179,
+            4.384919571155947
+        ],
+        [
+            4.327863072035437,
+            49.85914767538569,
+            4.36857651495422
+        ],
+        [
+            8.922756416501098,
+            51.892880635446666,
+            4.256321609254198
+        ],
+        [
+            13.113658373822094,
+            54.0433838427516,
+            4.268331935652752
+        ],
+        [
+            16.970039360672857,
+            56.072638906782764,
+            4.267080075907455
+        ],
+        [
+            21.299840073703297,
+            58.13757998859665,
+            4.248090803505053
+        ],
+        [
+            25.350147597140296,
+            60.19820863593272,
+            4.224134077755339
+        ],
+        [
+            29.58281865143466,
+            62.32875087583377,
+            4.154231441710025
+        ],
+        [
+            33.8462400477795,
+            64.46263158215265,
+            4.007266252743365
+        ],
+        [
+            38.55453853171398,
+            66.63885004206352,
+            4.076249340332787
+        ],
+        [
+            42.83010561380775,
+            68.71897041501313,
+            4.236330825939735
+        ],
+        [
+            45.96674900601416,
+            71.11081616126776,
+            4.376517843014993
+        ],
+        [
+            47.259067612275324,
+            73.22029291638407,
+            4.264701707259704
+        ],
+        [
+            47.75034074011584,
+            75.23160931820235,
+            4.632914897476545
+        ],
+        [
+            47.77981681339268,
+            77.43276645721295,
+            4.635805582654947
+        ],
+        [
+            47.52236298278613,
+            79.5421618559466,
+            4.75861621774923
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            0.04595085474521721,
+            -24.419359827024074,
+            -0.28481286802869726
+        ],
+        [
+            1.3423388202616833,
+            -22.212376309558522,
+            -0.2424687856976827
+        ],
+        [
+            1.9645475494905211,
+            -19.690970551922728,
+            -0.19916671800471528
+        ],
+        [
+            2.369325361833309,
+            -17.350093221566244,
+            -0.071475736631395
+        ],
+        [
+            2.685956784199244,
+            -15.247815632162474,
+            0.010079289573043826
+        ],
+        [
+            2.9510618549496987,
+            -13.116714411112776,
+            -0.005349093844664643
+        ],
+        [
+            3.1538291781622627,
+            -10.860798532708474,
+            0.11657447896452455
+        ],
+        [
+            3.3618033593769026,
+            -8.617564924820464,
+            0.07555946865326968
+        ],
+        [
+            3.5582037083764506,
+            -6.418208804190435,
+            -0.05844760242546232
+        ],
+        [
+            3.6550050648224053,
+            -4.1470216519445415,
+            -0.05632346109018321
+        ],
+        [
+            3.706670537469802,
+            -1.8609364107989137,
+            -0.052254817798443876
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354869104.json

@@ -0,0 +1,510 @@
+{
+    "timestamp": {
+        "sec": 1754654129,
+        "nsec": 636565000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.13481321446258399,
+            2.1638920669197184,
+            0.13639343501123757
+        ],
+        [
+            -0.3790662355088905,
+            4.247232092184319,
+            0.10980971899476427
+        ],
+        [
+            -0.7282316033482807,
+            6.378142942039375,
+            0.3195979755240046
+        ],
+        [
+            -1.1219047478055675,
+            8.457963498421641,
+            0.3471228268387181
+        ],
+        [
+            -1.7245432625446124,
+            10.784728863459804,
+            0.5553449836975601
+        ],
+        [
+            -2.4434794106248727,
+            13.209773701778488,
+            0.6444295232395578
+        ],
+        [
+            -3.196680114569766,
+            15.479097166646298,
+            0.9098545246811749
+        ],
+        [
+            -3.832445151230033,
+            17.584392763878732,
+            1.2067513128754805
+        ],
+        [
+            -4.4990413273549414,
+            19.86759724525931,
+            1.9277591546388662
+        ],
+        [
+            -5.091885347325433,
+            21.947637826778816,
+            2.368169940926234
+        ],
+        [
+            -5.723653528240458,
+            23.989421362902924,
+            2.7875338910290464
+        ],
+        [
+            -6.359392574971083,
+            26.09880926911626,
+            3.1120050386307514
+        ],
+        [
+            -6.778551822296388,
+            28.123557168557845,
+            3.8007616415243626
+        ],
+        [
+            -7.225719386288148,
+            30.358453785557202,
+            4.203648960981743
+        ],
+        [
+            -7.834495340826958,
+            32.59980725341882,
+            4.341475415376525
+        ],
+        [
+            -8.10337091635865,
+            34.69098536122118,
+            4.987765498158716
+        ],
+        [
+            -8.206912514942207,
+            36.71220677037807,
+            4.533680316152507
+        ],
+        [
+            -8.062168968421608,
+            38.799004455052604,
+            5.405121833544635
+        ],
+        [
+            -7.850082301914368,
+            41.07920020811965,
+            4.9899157960129195
+        ],
+        [
+            -7.064372389464821,
+            43.428477436259776,
+            4.652388767726569
+        ],
+        [
+            -5.705953958123831,
+            45.50797746391054,
+            4.547714778070386
+        ],
+        [
+            -3.0811334425241323,
+            47.601524225431326,
+            4.46107132070758
+        ],
+        [
+            0.8134679441526398,
+            49.685326004759595,
+            4.446276449648275
+        ],
+        [
+            5.415593538375564,
+            51.702726259445605,
+            4.335587737043369
+        ],
+        [
+            9.61413665872243,
+            53.83826315706819,
+            4.349201477402001
+        ],
+        [
+            13.477729634240276,
+            55.85375348279744,
+            4.349454882110599
+        ],
+        [
+            17.81486801891504,
+            57.903251826594406,
+            4.332029345037649
+        ],
+        [
+            21.872500016033207,
+            59.949437401990075,
+            4.309611754922264
+        ],
+        [
+            26.11274742053393,
+            62.06491296826058,
+            4.241304028218858
+        ],
+        [
+            30.383763118387733,
+            64.18366290928645,
+            4.095938164040557
+        ],
+        [
+            35.099786561076066,
+            66.34303610233474,
+            4.166580690952532
+        ],
+        [
+            39.382731285804276,
+            68.40780110540396,
+            4.328230585791008
+        ],
+        [
+            42.5278728049874,
+            70.7883627243144,
+            4.470080669985824
+        ],
+        [
+            43.82771474126675,
+            72.89328331465262,
+            4.359615029446999
+        ],
+        [
+            44.32612736991617,
+            74.90261682073006,
+            4.72905733992099
+        ],
+        [
+            44.363452452738635,
+            77.10365275387977,
+            4.733253141408419
+        ],
+        [
+            44.11351251719514,
+            79.21387982312024,
+            4.857291925868273
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -3.7329208205662585,
+            -24.57467363236581,
+            -0.251412861699919
+        ],
+        [
+            -2.4286743235950983,
+            -22.372352626810937,
+            -0.20766027961333486
+        ],
+        [
+            -1.7974816069296473,
+            -19.853207814938756,
+            -0.16281679982008743
+        ],
+        [
+            -1.3843690321059636,
+            -17.513864794497106,
+            -0.03370842247960071
+        ],
+        [
+            -1.0602494076935987,
+            -15.412778324534603,
+            0.049115835134272035
+        ],
+        [
+            -0.7875451653464953,
+            -13.282627289783884,
+            0.034969695436617654
+        ],
+        [
+            -0.5767443039778968,
+            -11.027521365722443,
+            0.15824444352089329
+        ],
+        [
+            -0.3607686458611141,
+            -8.785019805999482,
+            0.11857354206754628
+        ],
+        [
+            -0.15651568351098,
+            -6.586299161083378,
+            -0.014116286215975826
+        ],
+        [
+            -0.051615953369140044,
+            -4.3154733071189675,
+            -0.010640268958611254
+        ],
+        [
+            0.008201149909558225,
+            -2.029589653076897,
+            -0.005214493013637855
+        ],
+        [
+            0.0,
+            -3.552713678800501e-15,
+            0.0
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            -0.052991114490907876,
+            2.1638920669197184,
+            0.13639343501123757
+        ],
+        [
+            -0.2972441355372144,
+            4.247232092184319,
+            0.10980971899476427
+        ],
+        [
+            -0.6464095033766046,
+            6.378142942039375,
+            0.3195979755240046
+        ],
+        [
+            -1.0400826478338914,
+            8.457963498421641,
+            0.3471228268387181
+        ],
+        [
+            -1.6427211625729363,
+            10.784728863459804,
+            0.5553449836975601
+        ],
+        [
+            -2.3616573106531966,
+            13.209773701778488,
+            0.6444295232395578
+        ],
+        [
+            -3.1148580145980898,
+            15.479097166646298,
+            0.9098545246811749
+        ],
+        [
+            -3.7506230512583567,
+            17.584392763878732,
+            1.2067513128754805
+        ],
+        [
+            -4.417219227383265,
+            19.86759724525931,
+            1.9277591546388662
+        ],
+        [
+            -5.010063247353757,
+            21.947637826778816,
+            2.368169940926234
+        ],
+        [
+            -5.641831428268782,
+            23.989421362902924,
+            2.7875338910290464
+        ],
+        [
+            -6.277570474999407,
+            26.09880926911626,
+            3.1120050386307514
+        ],
+        [
+            -6.6967297223247115,
+            28.123557168557845,
+            3.8007616415243626
+        ],
+        [
+            -7.143897286316472,
+            30.358453785557202,
+            4.203648960981743
+        ],
+        [
+            -7.752673240855282,
+            32.59980725341882,
+            4.341475415376525
+        ],
+        [
+            -8.021548816386973,
+            34.69098536122118,
+            4.987765498158716
+        ],
+        [
+            -8.125090414970531,
+            36.71220677037807,
+            4.533680316152507
+        ],
+        [
+            -7.9803468684499315,
+            38.799004455052604,
+            5.405121833544635
+        ],
+        [
+            -7.768260201942692,
+            41.07920020811965,
+            4.9899157960129195
+        ],
+        [
+            -6.982550289493145,
+            43.428477436259776,
+            4.652388767726569
+        ],
+        [
+            -5.624131858152155,
+            45.50797746391054,
+            4.547714778070386
+        ],
+        [
+            -2.9993113425524562,
+            47.601524225431326,
+            4.46107132070758
+        ],
+        [
+            0.8952900441243159,
+            49.685326004759595,
+            4.446276449648275
+        ],
+        [
+            5.49741563834724,
+            51.702726259445605,
+            4.335587737043369
+        ],
+        [
+            9.695958758694106,
+            53.83826315706819,
+            4.349201477402001
+        ],
+        [
+            13.559551734211952,
+            55.85375348279744,
+            4.349454882110599
+        ],
+        [
+            17.896690118886717,
+            57.903251826594406,
+            4.332029345037649
+        ],
+        [
+            21.95432211600488,
+            59.949437401990075,
+            4.309611754922264
+        ],
+        [
+            26.194569520505603,
+            62.06491296826058,
+            4.241304028218858
+        ],
+        [
+            30.465585218359408,
+            64.18366290928645,
+            4.095938164040557
+        ],
+        [
+            35.18160866104774,
+            66.34303610233474,
+            4.166580690952532
+        ],
+        [
+            39.46455338577595,
+            68.40780110540396,
+            4.328230585791008
+        ],
+        [
+            42.60969490495908,
+            70.7883627243144,
+            4.470080669985824
+        ],
+        [
+            43.90953684123843,
+            72.89328331465262,
+            4.359615029446999
+        ],
+        [
+            44.407949469887846,
+            74.90261682073006,
+            4.72905733992099
+        ],
+        [
+            44.44527455271031,
+            77.10365275387977,
+            4.733253141408419
+        ],
+        [
+            44.195334617166814,
+            79.21387982312024,
+            4.857291925868273
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -3.6510987205945824,
+            -24.57467363236581,
+            -0.251412861699919
+        ],
+        [
+            -2.346852223623422,
+            -22.372352626810937,
+            -0.20766027961333486
+        ],
+        [
+            -1.7156595069579712,
+            -19.853207814938756,
+            -0.16281679982008743
+        ],
+        [
+            -1.3025469321342875,
+            -17.513864794497106,
+            -0.03370842247960071
+        ],
+        [
+            -0.9784273077219225,
+            -15.412778324534603,
+            0.049115835134272035
+        ],
+        [
+            -0.7057230653748192,
+            -13.282627289783884,
+            0.034969695436617654
+        ],
+        [
+            -0.49492220400622067,
+            -11.027521365722443,
+            0.15824444352089329
+        ],
+        [
+            -0.278946545889438,
+            -8.785019805999482,
+            0.11857354206754628
+        ],
+        [
+            -0.07469358353930389,
+            -6.586299161083378,
+            -0.014116286215975826
+        ],
+        [
+            0.030206146602536066,
+            -4.3154733071189675,
+            -0.010640268958611254
+        ],
+        [
+            0.09002324988123434,
+            -2.029589653076897,
+            -0.005214493013637855
+        ],
+        [
+            0.08182209997167611,
+            -3.552713678800501e-15,
+            0.0
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354869183.json

@@ -0,0 +1,510 @@
+{
+    "timestamp": {
+        "sec": 1754654147,
+        "nsec": 209571000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.12873228308409246,
+            1.8995631671867663,
+            0.07468236962861974
+        ],
+        [
+            -0.35997067458097476,
+            3.9843900466619644,
+            0.04827059133474998
+        ],
+        [
+            -0.6953918295044552,
+            6.117472501096152,
+            0.2584146089055655
+        ],
+        [
+            -1.075970974695485,
+            8.199722965015631,
+            0.28638295904983463
+        ],
+        [
+            -1.663635171090414,
+            10.530244644447109,
+            0.49539540836907386
+        ],
+        [
+            -2.3671948645142322,
+            12.959758642392146,
+            0.5854687098322213
+        ],
+        [
+            -3.1056742059471087,
+            15.233790060854759,
+            0.8519646575214497
+        ],
+        [
+            -3.727691309015926,
+            17.343064501779992,
+            1.1497405678222052
+        ],
+        [
+            -4.3786537424823555,
+            19.630488004720128,
+            1.8716596090709712
+        ],
+        [
+            -4.957648448071883,
+            21.71425596550373,
+            2.3128746699789406
+        ],
+        [
+            -5.575844484310771,
+            23.76000910296927,
+            2.7331185596174077
+        ],
+        [
+            -6.197759880732362,
+            25.87337888818277,
+            3.0584682033599435
+        ],
+        [
+            -6.602969135397622,
+            27.900796143030746,
+            3.747720641599645
+        ],
+        [
+            -7.035388032267208,
+            30.138499549047282,
+            4.151127725663671
+        ],
+        [
+            -7.629852692469038,
+            32.38364110842342,
+            4.289766855725199
+        ],
+        [
+            -7.884442220374113,
+            34.47654025369249,
+            4.936271430175412
+        ],
+        [
+            -7.976137758227392,
+            36.49831694195356,
+            4.482111600235645
+        ],
+        [
+            -7.816735607724232,
+            38.584269997113324,
+            5.3530171033424185
+        ],
+        [
+            -7.591115838715019,
+            40.86304223625024,
+            4.937129760436763
+        ],
+        [
+            -6.791311011003709,
+            43.20730841519428,
+            4.597871192627761
+        ],
+        [
+            -5.420077931786604,
+            45.278240700949354,
+            4.4904609789841645
+        ],
+        [
+            -2.7823489515147735,
+            47.355283905088925,
+            4.39878096337088
+        ],
+        [
+            1.1252032458133243,
+            49.41463200020239,
+            4.376646077899316
+        ],
+        [
+            6.1718513312616174,
+            51.61667759864089,
+            4.656083429017046
+        ],
+        [
+            10.219618376292473,
+            53.71356238612785,
+            3.984494522726186
+        ],
+        [
+            14.61711151403599,
+            55.86507882826784,
+            4.101829528888108
+        ],
+        [
+            19.02311100389707,
+            57.96629938692088,
+            3.987480177693041
+        ],
+        [
+            23.173658873371078,
+            59.9996228560351,
+            4.33299837792858
+        ],
+        [
+            27.206835490836102,
+            62.02483167678653,
+            4.269210869762942
+        ],
+        [
+            31.608470690527074,
+            64.03965412195059,
+            3.9248993313482017
+        ],
+        [
+            35.98499923276006,
+            66.09582866263096,
+            4.218768274873872
+        ],
+        [
+            40.32310693881787,
+            68.10760874154094,
+            4.015592970616999
+        ],
+        [
+            42.97103018462569,
+            70.25579508987599,
+            4.321990812736544
+        ],
+        [
+            44.28383682757553,
+            72.35251390184735,
+            4.208891960256888
+        ],
+        [
+            44.79550350749112,
+            74.35872784937884,
+            4.577167282814886
+        ],
+        [
+            44.846630792380694,
+            76.5594870798997,
+            4.58100858351891
+        ],
+        [
+            44.6101476187869,
+            78.67125402922818,
+            4.705225875052404
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -3.8950560847245583,
+            -24.815970631625184,
+            -0.303109358193917
+        ],
+        [
+            -2.576954479716017,
+            -22.62186258902164,
+            -0.2620109267718609
+        ],
+        [
+            -1.9299045958246221,
+            -20.106718201468546,
+            -0.21864130664101167
+        ],
+        [
+            -1.5019041463722704,
+            -17.769995148127357,
+            -0.09058769631145011
+        ],
+        [
+            -1.1644721074457198,
+            -15.670971667599,
+            -0.00862557009153464
+        ],
+        [
+            -0.8784482621935741,
+            -13.542573456777063,
+            -0.02354415008970151
+        ],
+        [
+            -0.6532937820048499,
+            -11.288818468277688,
+            0.09905400353064231
+        ],
+        [
+            -0.42333948306598224,
+            -9.047719405991106,
+            0.058699027396869496
+        ],
+        [
+            -0.20555093352223963,
+            -6.850337981558468,
+            -0.07464774153673442
+        ],
+        [
+            -0.08641432640781943,
+            -4.580213838438883,
+            -0.07165796164005556
+        ],
+        [
+            -0.012261468657632335,
+            -2.294749385850004,
+            -0.06663856465578766
+        ],
+        [
+            -0.007732167126636824,
+            -0.2651475913288053,
+            -0.061673609672666385
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.7329242062290646,
+            1.8995631671867663,
+            0.07468236962861974
+        ],
+        [
+            1.5016858147321823,
+            3.9843900466619644,
+            0.04827059133474998
+        ],
+        [
+            1.1662646598087019,
+            6.117472501096152,
+            0.2584146089055655
+        ],
+        [
+            0.785685514617672,
+            8.199722965015631,
+            0.28638295904983463
+        ],
+        [
+            0.19802131822274305,
+            10.530244644447109,
+            0.49539540836907386
+        ],
+        [
+            -0.5055383752010751,
+            12.959758642392146,
+            0.5854687098322213
+        ],
+        [
+            -1.2440177166339517,
+            15.233790060854759,
+            0.8519646575214497
+        ],
+        [
+            -1.8660348197027687,
+            17.343064501779992,
+            1.1497405678222052
+        ],
+        [
+            -2.5169972531691984,
+            19.630488004720128,
+            1.8716596090709712
+        ],
+        [
+            -3.0959919587587263,
+            21.71425596550373,
+            2.3128746699789406
+        ],
+        [
+            -3.714187994997614,
+            23.76000910296927,
+            2.7331185596174077
+        ],
+        [
+            -4.336103391419205,
+            25.87337888818277,
+            3.0584682033599435
+        ],
+        [
+            -4.741312646084465,
+            27.900796143030746,
+            3.747720641599645
+        ],
+        [
+            -5.173731542954051,
+            30.138499549047282,
+            4.151127725663671
+        ],
+        [
+            -5.768196203155881,
+            32.38364110842342,
+            4.289766855725199
+        ],
+        [
+            -6.022785731060956,
+            34.47654025369249,
+            4.936271430175412
+        ],
+        [
+            -6.1144812689142345,
+            36.49831694195356,
+            4.482111600235645
+        ],
+        [
+            -5.955079118411075,
+            38.584269997113324,
+            5.3530171033424185
+        ],
+        [
+            -5.7294593494018615,
+            40.86304223625024,
+            4.937129760436763
+        ],
+        [
+            -4.929654521690552,
+            43.20730841519428,
+            4.597871192627761
+        ],
+        [
+            -3.5584214424734473,
+            45.278240700949354,
+            4.4904609789841645
+        ],
+        [
+            -0.9206924622016164,
+            47.355283905088925,
+            4.39878096337088
+        ],
+        [
+            2.9868597351264814,
+            49.41463200020239,
+            4.376646077899316
+        ],
+        [
+            8.033507820574775,
+            51.61667759864089,
+            4.656083429017046
+        ],
+        [
+            12.08127486560563,
+            53.71356238612785,
+            3.984494522726186
+        ],
+        [
+            16.478768003349145,
+            55.86507882826784,
+            4.101829528888108
+        ],
+        [
+            20.884767493210227,
+            57.96629938692088,
+            3.987480177693041
+        ],
+        [
+            25.035315362684237,
+            59.9996228560351,
+            4.33299837792858
+        ],
+        [
+            29.06849198014926,
+            62.02483167678653,
+            4.269210869762942
+        ],
+        [
+            33.47012717984023,
+            64.03965412195059,
+            3.9248993313482017
+        ],
+        [
+            37.846655722073216,
+            66.09582866263096,
+            4.218768274873872
+        ],
+        [
+            42.18476342813103,
+            68.10760874154094,
+            4.015592970616999
+        ],
+        [
+            44.832686673938845,
+            70.25579508987599,
+            4.321990812736544
+        ],
+        [
+            46.14549331688868,
+            72.35251390184735,
+            4.208891960256888
+        ],
+        [
+            46.657159996804275,
+            74.35872784937884,
+            4.577167282814886
+        ],
+        [
+            46.70828728169385,
+            76.5594870798997,
+            4.58100858351891
+        ],
+        [
+            46.47180410810005,
+            78.67125402922818,
+            4.705225875052404
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -2.0333995954114013,
+            -24.815970631625184,
+            -0.303109358193917
+        ],
+        [
+            -0.7152979904028598,
+            -22.62186258902164,
+            -0.2620109267718609
+        ],
+        [
+            -0.06824810651146507,
+            -20.106718201468546,
+            -0.21864130664101167
+        ],
+        [
+            0.35975234294088665,
+            -17.769995148127357,
+            -0.09058769631145011
+        ],
+        [
+            0.6971843818674373,
+            -15.670971667599,
+            -0.00862557009153464
+        ],
+        [
+            0.983208227119583,
+            -13.542573456777063,
+            -0.02354415008970151
+        ],
+        [
+            1.2083627073083072,
+            -11.288818468277688,
+            0.09905400353064231
+        ],
+        [
+            1.4383170062471748,
+            -9.047719405991106,
+            0.058699027396869496
+        ],
+        [
+            1.6561055557909174,
+            -6.850337981558468,
+            -0.07464774153673442
+        ],
+        [
+            1.7752421629053377,
+            -4.580213838438883,
+            -0.07165796164005556
+        ],
+        [
+            1.8493950206555247,
+            -2.294749385850004,
+            -0.06663856465578766
+        ],
+        [
+            1.8539243221865203,
+            -0.2651475913288053,
+            -0.061673609672666385
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354869297.json

@@ -0,0 +1,510 @@
+{
+    "timestamp": {
+        "sec": 1754654159,
+        "nsec": 100573000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.09134600145222471,
+            1.5188094572084339,
+            0.002189192982777921
+        ],
+        [
+            -0.30800787875822877,
+            3.605177964327126,
+            -0.026023863259799773
+        ],
+        [
+            -0.627884020359259,
+            5.740802027697157,
+            0.1825372325738328
+        ],
+        [
+            -0.9937564679878506,
+            7.8257052389791255,
+            0.20910150386846582
+        ],
+        [
+            -1.5644850959595082,
+            10.160534294139019,
+            0.41696883268600293
+        ],
+        [
+            -2.250725922744028,
+            12.595031946008831,
+            0.5060890815213592
+        ],
+        [
+            -2.9725098403932027,
+            14.874497116100109,
+            0.7719033673992123
+        ],
+        [
+            -3.5789088786688144,
+            16.98842692155778,
+            1.0688805052096226
+        ],
+        [
+            -4.211877760570619,
+            19.2811874766329,
+            1.7898693437783368
+        ],
+        [
+            -4.775054710474969,
+            21.369472501330485,
+            2.2302009145079755
+        ],
+        [
+            -5.377754391716528,
+            23.4199951882158,
+            2.649708924264543
+        ],
+        [
+            -5.983949917040608,
+            25.538050910213563,
+            2.974254673940313
+        ],
+        [
+            -6.373084889106956,
+            27.569048150929852,
+            3.6622287800364517
+        ],
+        [
+            -6.788709364908346,
+            29.810191958301445,
+            4.064187286521568
+        ],
+        [
+            -7.367024257330185,
+            32.05961071584439,
+            4.2017983350171555
+        ],
+        [
+            -7.605197172806784,
+            34.15498139155242,
+            4.8465511702092865
+        ],
+        [
+            -7.683896106821798,
+            36.176834032523594,
+            4.3902962239656
+        ],
+        [
+            -7.5075432756159035,
+            38.26260588647814,
+            5.258363641528131
+        ],
+        [
+            -7.267029782606529,
+            40.539261939946414,
+            4.839245574744315
+        ],
+        [
+            -6.451684481939337,
+            42.87746375150955,
+            4.495163629437944
+        ],
+        [
+            -5.066232181258469,
+            44.938588141055575,
+            4.381736044284938
+        ],
+        [
+            -2.4142350647267516,
+            46.996943828252796,
+            4.2806864060797265
+        ],
+        [
+            1.5076094921537937,
+            49.028763277518294,
+            4.24584817852977
+        ],
+        [
+            6.570318852831965,
+            51.19561756768044,
+            4.509407211136166
+        ],
+        [
+            10.630917299502338,
+            53.263248371752,
+            3.824703892290987
+        ],
+        [
+            15.04370571511223,
+            55.383950681237295,
+            3.9279342878821786
+        ],
+        [
+            19.464033256976634,
+            57.454034868261886,
+            3.7995170143293184
+        ],
+        [
+            23.6296579156286,
+            59.45854180341537,
+            4.131718645409457
+        ],
+        [
+            28.076287790500658,
+            61.58096342504017,
+            3.9830600326760037
+        ],
+        [
+            32.29607141761149,
+            63.58941465628888,
+            3.7966387333435114
+        ],
+        [
+            37.061228083677555,
+            65.65741032981937,
+            3.6941279444557824
+        ],
+        [
+            41.525030407617706,
+            67.860186258784,
+            3.922217939022931
+        ],
+        [
+            43.842772379472976,
+            69.91098633312622,
+            4.140007940623863
+        ],
+        [
+            44.971809263015054,
+            72.1524469287552,
+            4.2087117472300655
+        ],
+        [
+            45.521369620218785,
+            74.2345555797946,
+            4.228346228709856
+        ],
+        [
+            45.45117787454047,
+            76.32364321074863,
+            4.317385482775148
+        ],
+        [
+            45.12967996105104,
+            78.44655273485168,
+            4.455558311907787
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -4.046165181524188,
+            -25.17001871922894,
+            -0.33474336023191703
+        ],
+        [
+            -2.712584455910175,
+            -22.985179368456926,
+            -0.29966509918709144
+        ],
+        [
+            -2.0477761676783803,
+            -20.474594951987267,
+            -0.2609146912921337
+        ],
+        [
+            -1.603039693185611,
+            -18.140792081555794,
+            -0.13669565053127775
+        ],
+        [
+            -1.250660351266454,
+            -16.044098975412012,
+            -0.05805367143759599
+        ],
+        [
+            -0.9497381470934645,
+            -13.917781021474145,
+            -0.0761902011263339
+        ],
+        [
+            -0.7084389962886384,
+            -11.665525293972882,
+            0.04320516379469791
+        ],
+        [
+            -0.4628607451555329,
+            -9.426144400822977,
+            -0.0003499581378098582
+        ],
+        [
+            -0.23000125568290386,
+            -7.230500435352589,
+            -0.1368137723707758
+        ],
+        [
+            -0.09491892344445141,
+            -4.961267336644745,
+            -0.13676520472370066
+        ],
+        [
+            -0.004705974532818402,
+            -2.6763759870470416,
+            -0.13458596442665746
+        ],
+        [
+            0.014088528066011463,
+            -0.6468517591156555,
+            -0.13198124072349185
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            2.0729684664801242,
+            1.5188094572084339,
+            0.002189192982777921
+        ],
+        [
+            1.8563065891741202,
+            3.605177964327126,
+            -0.026023863259799773
+        ],
+        [
+            1.5364304475730899,
+            5.740802027697157,
+            0.1825372325738328
+        ],
+        [
+            1.1705579999444984,
+            7.8257052389791255,
+            0.20910150386846582
+        ],
+        [
+            0.5998293719728407,
+            10.160534294139019,
+            0.41696883268600293
+        ],
+        [
+            -0.086411454811679,
+            12.595031946008831,
+            0.5060890815213592
+        ],
+        [
+            -0.8081953724608537,
+            14.874497116100109,
+            0.7719033673992123
+        ],
+        [
+            -1.4145944107364654,
+            16.98842692155778,
+            1.0688805052096226
+        ],
+        [
+            -2.0475632926382703,
+            19.2811874766329,
+            1.7898693437783368
+        ],
+        [
+            -2.6107402425426205,
+            21.369472501330485,
+            2.2302009145079755
+        ],
+        [
+            -3.213439923784179,
+            23.4199951882158,
+            2.649708924264543
+        ],
+        [
+            -3.819635449108259,
+            25.538050910213563,
+            2.974254673940313
+        ],
+        [
+            -4.208770421174607,
+            27.569048150929852,
+            3.6622287800364517
+        ],
+        [
+            -4.624394896975997,
+            29.810191958301445,
+            4.064187286521568
+        ],
+        [
+            -5.2027097893978365,
+            32.05961071584439,
+            4.2017983350171555
+        ],
+        [
+            -5.4408827048744355,
+            34.15498139155242,
+            4.8465511702092865
+        ],
+        [
+            -5.519581638889449,
+            36.176834032523594,
+            4.3902962239656
+        ],
+        [
+            -5.343228807683555,
+            38.26260588647814,
+            5.258363641528131
+        ],
+        [
+            -5.10271531467418,
+            40.539261939946414,
+            4.839245574744315
+        ],
+        [
+            -4.287370014006988,
+            42.87746375150955,
+            4.495163629437944
+        ],
+        [
+            -2.90191771332612,
+            44.938588141055575,
+            4.381736044284938
+        ],
+        [
+            -0.2499205967944027,
+            46.996943828252796,
+            4.2806864060797265
+        ],
+        [
+            3.6719239600861426,
+            49.028763277518294,
+            4.24584817852977
+        ],
+        [
+            8.734633320764313,
+            51.19561756768044,
+            4.509407211136166
+        ],
+        [
+            12.795231767434686,
+            53.263248371752,
+            3.824703892290987
+        ],
+        [
+            17.208020183044578,
+            55.383950681237295,
+            3.9279342878821786
+        ],
+        [
+            21.628347724908984,
+            57.454034868261886,
+            3.7995170143293184
+        ],
+        [
+            25.79397238356095,
+            59.45854180341537,
+            4.131718645409457
+        ],
+        [
+            30.240602258433007,
+            61.58096342504017,
+            3.9830600326760037
+        ],
+        [
+            34.46038588554384,
+            63.58941465628888,
+            3.7966387333435114
+        ],
+        [
+            39.225542551609905,
+            65.65741032981937,
+            3.6941279444557824
+        ],
+        [
+            43.689344875550056,
+            67.860186258784,
+            3.922217939022931
+        ],
+        [
+            46.007086847405326,
+            69.91098633312622,
+            4.140007940623863
+        ],
+        [
+            47.1361237309474,
+            72.1524469287552,
+            4.2087117472300655
+        ],
+        [
+            47.685684088151135,
+            74.2345555797946,
+            4.228346228709856
+        ],
+        [
+            47.61549234247282,
+            76.32364321074863,
+            4.317385482775148
+        ],
+        [
+            47.29399442898339,
+            78.44655273485168,
+            4.455558311907787
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -1.881850713591839,
+            -25.17001871922894,
+            -0.33474336023191703
+        ],
+        [
+            -0.5482699879778261,
+            -22.985179368456926,
+            -0.29966509918709144
+        ],
+        [
+            0.11653830025396861,
+            -20.474594951987267,
+            -0.2609146912921337
+        ],
+        [
+            0.5612747747467379,
+            -18.140792081555794,
+            -0.13669565053127775
+        ],
+        [
+            0.9136541166658949,
+            -16.044098975412012,
+            -0.05805367143759599
+        ],
+        [
+            1.2145763208388844,
+            -13.917781021474145,
+            -0.0761902011263339
+        ],
+        [
+            1.4558754716437106,
+            -11.665525293972882,
+            0.04320516379469791
+        ],
+        [
+            1.701453722776816,
+            -9.426144400822977,
+            -0.0003499581378098582
+        ],
+        [
+            1.934313212249445,
+            -7.230500435352589,
+            -0.1368137723707758
+        ],
+        [
+            2.0693955444878975,
+            -4.961267336644745,
+            -0.13676520472370066
+        ],
+        [
+            2.1596084933995305,
+            -2.6763759870470416,
+            -0.13458596442665746
+        ],
+        [
+            2.1784029959983604,
+            -0.6468517591156555,
+            -0.13198124072349185
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354869489.json

@@ -0,0 +1,510 @@
+{
+    "timestamp": {
+        "sec": 1754654171,
+        "nsec": 387381000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.03487473119298201,
+            0.8568908493157785,
+            0.018367996654531593
+        ],
+        [
+            -0.22456362706718913,
+            2.945860356684708,
+            -0.011572163362547128
+        ],
+        [
+            -0.5170147248777415,
+            5.085591869993468,
+            0.19514025292825604
+        ],
+        [
+            -0.8559651332410603,
+            7.1750634470883305,
+            0.21985579540829575
+        ],
+        [
+            -1.396675728234051,
+            9.51722075896765,
+            0.42552030101770627
+        ],
+        [
+            -2.0515057989167556,
+            11.960439942621722,
+            0.5122688296068392
+        ],
+        [
+            -2.7440207980134215,
+            14.249231438743788,
+            0.7757971645510748
+        ],
+        [
+            -3.3233227073926805,
+            16.37103549533227,
+            1.0707060990379842
+        ],
+        [
+            -3.9272283224678155,
+            18.672317586636257,
+            1.7894718592334025
+        ],
+        [
+            -4.463759275964836,
+            20.768029042638897,
+            2.2277897148814003
+        ],
+        [
+            -5.040280190830649,
+            22.82647579366572,
+            2.6452795630926023
+        ],
+        [
+            -5.619347745319383,
+            24.952423553629462,
+            2.967754196647794
+        ],
+        [
+            -5.982791998728875,
+            26.98879196657037,
+            3.6539000633417245
+        ],
+        [
+            -6.3697784601741425,
+            29.235415938757935,
+            4.053852707277542
+        ],
+        [
+            -6.919120119905252,
+            31.492215113935632,
+            4.189318149557637
+        ],
+        [
+            -7.130748859693843,
+            33.59097043103078,
+            4.832319098415632
+        ],
+        [
+            -7.182971357212564,
+            35.61332634424937,
+            4.3744986412364355
+        ],
+        [
+            -6.980414382809042,
+            37.697301132440856,
+            5.241161980463256
+        ],
+        [
+            -6.710192194602666,
+            39.970346755950075,
+            4.820551659067649
+        ],
+        [
+            -5.8644527874657255,
+            42.29756961580607,
+            4.475404340112009
+        ],
+        [
+            -4.45241814419979,
+            44.34055300389049,
+            4.361585686346401
+        ],
+        [
+            -1.77399042715213,
+            46.36442879387543,
+            4.26118836688663
+        ],
+        [
+            2.6960958043283707,
+            48.49132167264928,
+            4.116010158123956
+        ],
+        [
+            7.655417193658648,
+            50.67365712078518,
+            4.414138398476613
+        ],
+        [
+            12.022323705436653,
+            52.68539561708819,
+            4.286504752942267
+        ],
+        [
+            16.29382716383403,
+            54.77097336961245,
+            4.0025994933113624
+        ],
+        [
+            21.07494742725197,
+            56.871122798482446,
+            3.9521351843362895
+        ],
+        [
+            25.338624536842147,
+            58.918444835036794,
+            3.928084483291486
+        ],
+        [
+            29.98957609130371,
+            61.06111908189358,
+            4.070043226225013
+        ],
+        [
+            34.54953941868074,
+            63.14981052975172,
+            3.9341394327645816
+        ],
+        [
+            39.544351308424915,
+            65.22887378943443,
+            3.8505535601027105
+        ],
+        [
+            43.28705964720781,
+            67.27658295050061,
+            3.9012843811951576
+        ],
+        [
+            45.24935777740937,
+            69.48871561256787,
+            4.174752936463776
+        ],
+        [
+            46.21083210900299,
+            71.5190400032792,
+            4.095697316832934
+        ],
+        [
+            46.55050862607933,
+            73.95021318429379,
+            4.303271027074247
+        ],
+        [
+            46.3134922990183,
+            76.02312404759962,
+            4.380345914172568
+        ],
+        [
+            46.02542190562994,
+            78.03010932453655,
+            4.545979034560429
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -4.2437918901375085,
+            -25.656979696333966,
+            -0.3084434706070008
+        ],
+        [
+            -2.9719589342969357,
+            -23.611442166813127,
+            -0.26744875032952614
+        ],
+        [
+            -2.274829808255115,
+            -21.109619728064203,
+            -0.23001570302436775
+        ],
+        [
+            -1.8001055221794005,
+            -18.781659033784194,
+            -0.10716376790230325
+        ],
+        [
+            -1.420754346691302,
+            -16.689630463889415,
+            -0.029788763942223184
+        ],
+        [
+            -1.0923949554969674,
+            -14.567388190976125,
+            -0.049256511277462445
+        ],
+        [
+            -0.8221397095408012,
+            -12.318345504072253,
+            0.0686650301108378
+        ],
+        [
+            -0.547639512951811,
+            -10.082354508264565,
+            0.02364926153406366
+        ],
+        [
+            -0.2863461014448436,
+            -7.890002569906169,
+            -0.11425312792394907
+        ],
+        [
+            -0.12198266268995894,
+            -5.622702759750858,
+            -0.11577824541411108
+        ],
+        [
+            -0.0022844603761349447,
+            -3.339165233284959,
+            -0.1152212078473136
+        ],
+        [
+            0.042704511841883175,
+            -1.3100512979901993,
+            -0.11410781421330202
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.37631737528091147,
+            0.8568908493157785,
+            0.018367996654531593
+        ],
+        [
+            0.18662847940670435,
+            2.945860356684708,
+            -0.011572163362547128
+        ],
+        [
+            -0.10582261840384799,
+            5.085591869993468,
+            0.19514025292825604
+        ],
+        [
+            -0.4447730267671668,
+            7.1750634470883305,
+            0.21985579540829575
+        ],
+        [
+            -0.9854836217601575,
+            9.51722075896765,
+            0.42552030101770627
+        ],
+        [
+            -1.640313692442862,
+            11.960439942621722,
+            0.5122688296068392
+        ],
+        [
+            -2.332828691539528,
+            14.249231438743788,
+            0.7757971645510748
+        ],
+        [
+            -2.912130600918787,
+            16.37103549533227,
+            1.0707060990379842
+        ],
+        [
+            -3.516036215993922,
+            18.672317586636257,
+            1.7894718592334025
+        ],
+        [
+            -4.052567169490943,
+            20.768029042638897,
+            2.2277897148814003
+        ],
+        [
+            -4.629088084356756,
+            22.82647579366572,
+            2.6452795630926023
+        ],
+        [
+            -5.20815563884549,
+            24.952423553629462,
+            2.967754196647794
+        ],
+        [
+            -5.571599892254982,
+            26.98879196657037,
+            3.6539000633417245
+        ],
+        [
+            -5.958586353700249,
+            29.235415938757935,
+            4.053852707277542
+        ],
+        [
+            -6.507928013431359,
+            31.492215113935632,
+            4.189318149557637
+        ],
+        [
+            -6.719556753219949,
+            33.59097043103078,
+            4.832319098415632
+        ],
+        [
+            -6.77177925073867,
+            35.61332634424937,
+            4.3744986412364355
+        ],
+        [
+            -6.569222276335148,
+            37.697301132440856,
+            5.241161980463256
+        ],
+        [
+            -6.299000088128772,
+            39.970346755950075,
+            4.820551659067649
+        ],
+        [
+            -5.453260680991832,
+            42.29756961580607,
+            4.475404340112009
+        ],
+        [
+            -4.041226037725896,
+            44.34055300389049,
+            4.361585686346401
+        ],
+        [
+            -1.3627983206782366,
+            46.36442879387543,
+            4.26118836688663
+        ],
+        [
+            3.107287910802264,
+            48.49132167264928,
+            4.116010158123956
+        ],
+        [
+            8.06660930013254,
+            50.67365712078518,
+            4.414138398476613
+        ],
+        [
+            12.433515811910546,
+            52.68539561708819,
+            4.286504752942267
+        ],
+        [
+            16.705019270307925,
+            54.77097336961245,
+            4.0025994933113624
+        ],
+        [
+            21.486139533725865,
+            56.871122798482446,
+            3.9521351843362895
+        ],
+        [
+            25.74981664331604,
+            58.918444835036794,
+            3.928084483291486
+        ],
+        [
+            30.400768197777605,
+            61.06111908189358,
+            4.070043226225013
+        ],
+        [
+            34.96073152515463,
+            63.14981052975172,
+            3.9341394327645816
+        ],
+        [
+            39.955543414898806,
+            65.22887378943443,
+            3.8505535601027105
+        ],
+        [
+            43.6982517536817,
+            67.27658295050061,
+            3.9012843811951576
+        ],
+        [
+            45.66054988388326,
+            69.48871561256787,
+            4.174752936463776
+        ],
+        [
+            46.622024215476884,
+            71.5190400032792,
+            4.095697316832934
+        ],
+        [
+            46.96170073255322,
+            73.95021318429379,
+            4.303271027074247
+        ],
+        [
+            46.72468440549219,
+            76.02312404759962,
+            4.380345914172568
+        ],
+        [
+            46.43661401210383,
+            78.03010932453655,
+            4.545979034560429
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -3.832599783663615,
+            -25.656979696333966,
+            -0.3084434706070008
+        ],
+        [
+            -2.560766827823042,
+            -23.611442166813127,
+            -0.26744875032952614
+        ],
+        [
+            -1.8636377017812213,
+            -21.109619728064203,
+            -0.23001570302436775
+        ],
+        [
+            -1.388913415705507,
+            -18.781659033784194,
+            -0.10716376790230325
+        ],
+        [
+            -1.0095622402174085,
+            -16.689630463889415,
+            -0.029788763942223184
+        ],
+        [
+            -0.6812028490230739,
+            -14.567388190976125,
+            -0.049256511277462445
+        ],
+        [
+            -0.4109476030669077,
+            -12.318345504072253,
+            0.0686650301108378
+        ],
+        [
+            -0.13644740647791753,
+            -10.082354508264565,
+            0.02364926153406366
+        ],
+        [
+            0.12484600502904986,
+            -7.890002569906169,
+            -0.11425312792394907
+        ],
+        [
+            0.28920944378393454,
+            -5.622702759750858,
+            -0.11577824541411108
+        ],
+        [
+            0.40890764609775854,
+            -3.339165233284959,
+            -0.1152212078473136
+        ],
+        [
+            0.45389661831577666,
+            -1.3100512979901993,
+            -0.11410781421330202
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354869583.json

@@ -0,0 +1,500 @@
+{
+    "timestamp": {
+        "sec": 1754654189,
+        "nsec": 470646000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            0.009265534053881197,
+            0.39566809305587824,
+            0.034154485287015646
+        ],
+        [
+            -0.16168259046169986,
+            2.486282991855113,
+            0.00626225052046836
+        ],
+        [
+            -0.4348315783510426,
+            4.628356445861627,
+            0.2151152245515594
+        ],
+        [
+            -0.7550072064977513,
+            6.720761154556051,
+            0.2419445188257926
+        ],
+        [
+            -1.274589595570177,
+            9.067480884161903,
+            0.4500487274316589
+        ],
+        [
+            -1.9074310316732674,
+            11.516394720745609,
+            0.5393820683396788
+        ],
+        [
+            -2.5792657343894447,
+            13.811058355990248,
+            0.8053663786384581
+        ],
+        [
+            -3.1393769461509926,
+            15.9376958072028,
+            1.102524615887901
+        ],
+        [
+            -3.7222981873303187,
+            18.243624449571406,
+            1.8237190394596965
+        ],
+        [
+            -4.239812711835365,
+            20.343651118168808,
+            2.2642428430923593
+        ],
+        [
+            -4.797658937034974,
+            22.406793115219266,
+            2.683921118068795
+        ],
+        [
+            -5.35748677667534,
+            24.53754596346421,
+            3.008648834321416
+        ],
+        [
+            -5.7023476540754015,
+            26.576444767734543,
+            3.6968688791652795
+        ],
+        [
+            -6.068985945561815,
+            28.82607212361348,
+            4.099103927412033
+        ],
+        [
+            -6.597995194047855,
+            31.087580941319523,
+            4.2369326062312025
+        ],
+        [
+            -6.790505372262645,
+            33.1875425600045,
+            4.881999933031804
+        ],
+        [
+            -6.824774235987338,
+            35.21071715359029,
+            4.426104759952477
+        ],
+        [
+            -6.603151969740407,
+            37.291970957703455,
+            5.294639021352151
+        ],
+        [
+            -6.312723538376658,
+            39.56289649338525,
+            4.876048508246779
+        ],
+        [
+            -5.446282521127954,
+            41.88276145165558,
+            4.532719810026717
+        ],
+        [
+            -4.016020451414784,
+            43.913098444006195,
+            4.420204241550746
+        ],
+        [
+            -0.7744489034397386,
+            46.2698315231402,
+            4.083222121668585
+        ],
+        [
+            4.290237704051048,
+            48.45065170739872,
+            4.250177197021546
+        ],
+        [
+            9.521902179010493,
+            50.68252154808253,
+            4.35123346765486
+        ],
+        [
+            13.602750680285908,
+            52.71877016980078,
+            4.129893901630678
+        ],
+        [
+            18.25131310540723,
+            54.79536511465898,
+            4.162266752038087
+        ],
+        [
+            23.19689285809438,
+            56.961263625871055,
+            3.896460138258009
+        ],
+        [
+            27.617592249833677,
+            58.99760229323826,
+            4.028123107703032
+        ],
+        [
+            32.30835700092179,
+            61.099870150715645,
+            3.753431932741724
+        ],
+        [
+            37.49523769998779,
+            63.29977421550382,
+            3.8495553147573176
+        ],
+        [
+            42.127313109886025,
+            65.3299716692199,
+            4.037647184060144
+        ],
+        [
+            45.07623697807486,
+            67.48139879353376,
+            4.117831467999214
+        ],
+        [
+            46.44882936106104,
+            69.53919514263966,
+            3.9997351325153225
+        ],
+        [
+            47.20054118381962,
+            72.09518288164422,
+            4.291271522354108
+        ],
+        [
+            47.176043504993004,
+            74.18528977049372,
+            4.380686603000511
+        ],
+        [
+            46.9010214073345,
+            76.3147001818676,
+            4.519148266821631
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -4.190641757184784,
+            -25.89318536970482,
+            -0.29027135722893743
+        ],
+        [
+            -3.02011340709519,
+            -23.60850466099626,
+            -0.13890724608798605
+        ],
+        [
+            -2.427828745316166,
+            -21.54961371593677,
+            -0.2339088524287701
+        ],
+        [
+            -1.9321802067633556,
+            -19.226123699114027,
+            -0.10907533200443395
+        ],
+        [
+            -1.5340376720439455,
+            -17.137657431819918,
+            -0.029898850270146493
+        ],
+        [
+            -1.1866553349300482,
+            -15.018429658490156,
+            -0.047514312826009264
+        ],
+        [
+            -0.8961778964623726,
+            -12.772015000873797,
+            0.07240415611698148
+        ],
+        [
+            -0.601642798123196,
+            -10.538535706810688,
+            0.02937126731443973
+        ],
+        [
+            -0.3207454628885351,
+            -8.348487456492457,
+            -0.10658345262985028
+        ],
+        [
+            -0.13604303558233077,
+            -6.082753398450205,
+            -0.10604802050522119
+        ],
+        [
+            0.004142566226049027,
+            -3.8003834533279814,
+            -0.10339559625525169
+        ],
+        [
+            0.0673390476236655,
+            -1.7717568733025857,
+            -0.10039339248758503
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.1136716173442602,
+            0.39566809305587824,
+            0.034154485287015646
+        ],
+        [
+            0.9427234928286792,
+            2.486282991855113,
+            0.00626225052046836
+        ],
+        [
+            0.6695745049393365,
+            4.628356445861627,
+            0.2151152245515594
+        ],
+        [
+            0.3493988767926277,
+            6.720761154556051,
+            0.2419445188257926
+        ],
+        [
+            -0.1701835122797979,
+            9.067480884161903,
+            0.4500487274316589
+        ],
+        [
+            -0.8030249483828884,
+            11.516394720745609,
+            0.5393820683396788
+        ],
+        [
+            -1.4748596510990657,
+            13.811058355990248,
+            0.8053663786384581
+        ],
+        [
+            -2.0349708628606136,
+            15.9376958072028,
+            1.102524615887901
+        ],
+        [
+            -2.6178921040399397,
+            18.243624449571406,
+            1.8237190394596965
+        ],
+        [
+            -3.1354066285449855,
+            20.343651118168808,
+            2.2642428430923593
+        ],
+        [
+            -3.693252853744595,
+            22.406793115219266,
+            2.683921118068795
+        ],
+        [
+            -4.253080693384961,
+            24.53754596346421,
+            3.008648834321416
+        ],
+        [
+            -4.597941570785022,
+            26.576444767734543,
+            3.6968688791652795
+        ],
+        [
+            -4.964579862271436,
+            28.82607212361348,
+            4.099103927412033
+        ],
+        [
+            -5.493589110757476,
+            31.087580941319523,
+            4.2369326062312025
+        ],
+        [
+            -5.686099288972266,
+            33.1875425600045,
+            4.881999933031804
+        ],
+        [
+            -5.720368152696959,
+            35.21071715359029,
+            4.426104759952477
+        ],
+        [
+            -5.498745886450028,
+            37.291970957703455,
+            5.294639021352151
+        ],
+        [
+            -5.208317455086279,
+            39.56289649338525,
+            4.876048508246779
+        ],
+        [
+            -4.341876437837575,
+            41.88276145165558,
+            4.532719810026717
+        ],
+        [
+            -2.911614368124405,
+            43.913098444006195,
+            4.420204241550746
+        ],
+        [
+            0.32995717985064044,
+            46.2698315231402,
+            4.083222121668585
+        ],
+        [
+            5.394643787341427,
+            48.45065170739872,
+            4.250177197021546
+        ],
+        [
+            10.62630826230087,
+            50.68252154808253,
+            4.35123346765486
+        ],
+        [
+            14.707156763576286,
+            52.71877016980078,
+            4.129893901630678
+        ],
+        [
+            19.35571918869761,
+            54.79536511465898,
+            4.162266752038087
+        ],
+        [
+            24.301298941384758,
+            56.961263625871055,
+            3.896460138258009
+        ],
+        [
+            28.721998333124056,
+            58.99760229323826,
+            4.028123107703032
+        ],
+        [
+            33.412763084212166,
+            61.099870150715645,
+            3.753431932741724
+        ],
+        [
+            38.59964378327817,
+            63.29977421550382,
+            3.8495553147573176
+        ],
+        [
+            43.2317191931764,
+            65.3299716692199,
+            4.037647184060144
+        ],
+        [
+            46.18064306136524,
+            67.48139879353376,
+            4.117831467999214
+        ],
+        [
+            47.553235444351415,
+            69.53919514263966,
+            3.9997351325153225
+        ],
+        [
+            48.304947267109995,
+            72.09518288164422,
+            4.291271522354108
+        ],
+        [
+            48.28044958828338,
+            74.18528977049372,
+            4.380686603000511
+        ],
+        [
+            48.005427490624875,
+            76.3147001818676,
+            4.519148266821631
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -3.0862356738944046,
+            -25.89318536970482,
+            -0.29027135722893743
+        ],
+        [
+            -1.9157073238048108,
+            -23.60850466099626,
+            -0.13890724608798605
+        ],
+        [
+            -1.323422662025787,
+            -21.54961371593677,
+            -0.2339088524287701
+        ],
+        [
+            -0.8277741234729765,
+            -19.226123699114027,
+            -0.10907533200443395
+        ],
+        [
+            -0.42963158875356644,
+            -17.137657431819918,
+            -0.029898850270146493
+        ],
+        [
+            -0.08224925163966912,
+            -15.018429658490156,
+            -0.047514312826009264
+        ],
+        [
+            0.20822818682800648,
+            -12.772015000873797,
+            0.07240415611698148
+        ],
+        [
+            0.502763285167183,
+            -10.538535706810688,
+            0.02937126731443973
+        ],
+        [
+            0.7836606204018439,
+            -8.348487456492457,
+            -0.10658345262985028
+        ],
+        [
+            0.9683630477080483,
+            -6.082753398450205,
+            -0.10604802050522119
+        ],
+        [
+            1.108548649516428,
+            -3.8003834533279814,
+            -0.10339559625525169
+        ],
+        [
+            1.1717451309140445,
+            -1.7717568733025857,
+            -0.10039339248758503
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354869694.json

@@ -0,0 +1,500 @@
+{
+    "timestamp": {
+        "sec": 1754654214,
+        "nsec": 41770000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            0.015061440714330132,
+            0.18862424030699287,
+            0.07390952938029977
+        ],
+        [
+            -0.14598624657201675,
+            2.2800334525172232,
+            0.04665072128267356
+        ],
+        [
+            -0.4084410786567787,
+            4.423358044225832,
+            0.2563785744602618
+        ],
+        [
+            -0.7185791979302092,
+            6.517261286464656,
+            0.28418627073799474
+        ],
+        [
+            -1.226490496121805,
+            8.86640419354556,
+            0.49375827572871456
+        ],
+        [
+            -1.8474467173770446,
+            11.318294575497905,
+            0.5848331582814773
+        ],
+        [
+            -2.5077225104530676,
+            13.616100238788487,
+            0.8526310874007652
+        ],
+        [
+            -3.0570050451640096,
+            15.745345361626601,
+            1.151325480280152
+        ],
+        [
+            -3.627263048475026,
+            18.05393534035517,
+            1.874128076760509
+        ],
+        [
+            -4.133745015493313,
+            20.156349091253215,
+            2.316086163665979
+        ],
+        [
+            -4.680782055197291,
+            22.222073377774105,
+            2.7372877955712047
+        ],
+        [
+            -5.229697903299981,
+            24.355429055386335,
+            3.0635514076158206
+        ],
+        [
+            -5.563247566428895,
+            26.39586197724687,
+            3.7527990427624927
+        ],
+        [
+            -5.918230995217947,
+            28.647160565554056,
+            4.1561367954118404
+        ],
+        [
+            -6.436137471442447,
+            30.91114723037116,
+            4.29544553765736
+        ],
+        [
+            -6.617147303587842,
+            33.011921704532256,
+            4.941195391820643
+        ],
+        [
+            -6.642828046535593,
+            35.03529357750803,
+            4.485611192049436
+        ],
+        [
+            -6.4092840067461205,
+            37.11535915613558,
+            5.353868043070323
+        ],
+        [
+            -6.109005187392062,
+            39.3849272911054,
+            4.934866144035416
+        ],
+        [
+            -5.232314733219118,
+            41.70068015023733,
+            4.589800064874843
+        ],
+        [
+            -3.792657473243141,
+            43.72419284527275,
+            4.474210313832805
+        ],
+        [
+            -0.5406794429012454,
+            46.065494962215496,
+            4.13000522465026
+        ],
+        [
+            4.534714285766043,
+            48.22213594676337,
+            4.285502067464356
+        ],
+        [
+            9.777174531094623,
+            50.42903858243659,
+            4.374720153909505
+        ],
+        [
+            13.867157752130023,
+            52.445846222516266,
+            4.1441809211004825
+        ],
+        [
+            18.52562547459174,
+            54.50026282853298,
+            4.166045833840244
+        ],
+        [
+            23.480842891930138,
+            56.6426039414758,
+            3.8890557443240565
+        ],
+        [
+            27.91148838002585,
+            58.657838101703774,
+            4.010732595570664
+        ],
+        [
+            32.611570617253896,
+            60.73776460408277,
+            3.7254396860376593
+        ],
+        [
+            37.80908398806991,
+            62.91291584105315,
+            3.8098247657620687
+        ],
+        [
+            42.45120366013007,
+            64.92099458532367,
+            3.9874411007035544
+        ],
+        [
+            45.4105237446217,
+            67.0583354339054,
+            4.061054316272341
+        ],
+        [
+            46.79263008387654,
+            69.10958267093555,
+            3.9400202374028357
+        ],
+        [
+            47.55718519603762,
+            71.6619229844548,
+            4.230109633054857
+        ],
+        [
+            47.54285455195703,
+            73.75211168731117,
+            4.31981926923122
+        ],
+        [
+            47.27830363333827,
+            75.88279110218296,
+            4.459158887127563
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -4.310811979605626,
+            -26.079877187571668,
+            -0.24380363324148202
+        ],
+        [
+            -3.129062992454635,
+            -23.800818993398202,
+            -0.09488509111727511
+        ],
+        [
+            -2.52719484809192,
+            -21.74476184195474,
+            -0.1910208088999163
+        ],
+        [
+            -2.0201925747814276,
+            -19.42367561908347,
+            -0.06706847644444819
+        ],
+        [
+            -1.6119204098498354,
+            -17.337140147720948,
+            0.0114255292251777
+        ],
+        [
+            -1.254484807144765,
+            -15.219589548565475,
+            -0.00675131998388126
+        ],
+        [
+            -0.9530294045616774,
+            -12.974599541448743,
+            0.11275141473578082
+        ],
+        [
+            -0.6479545862940341,
+            -10.742543722739434,
+            0.06929237533235694
+        ],
+        [
+            -0.356939026154814,
+            -8.553841857569047,
+            -0.06706167372940591
+        ],
+        [
+            -0.1614409565506758,
+            -6.289013726027246,
+            -0.0666949709492182
+        ],
+        [
+            -0.010374920539387489,
+            -4.0073380353899,
+            -0.06410649177933014
+        ],
+        [
+            0.062494709384729674,
+            -1.9790360126787476,
+            -0.06101919934352981
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            3.913655036240315,
+            0.18862424030699287,
+            0.07390952938029977
+        ],
+        [
+            3.752607348953968,
+            2.2800334525172232,
+            0.04665072128267356
+        ],
+        [
+            3.4901525168692062,
+            4.423358044225832,
+            0.2563785744602618
+        ],
+        [
+            3.1800143975957758,
+            6.517261286464656,
+            0.28418627073799474
+        ],
+        [
+            2.67210309940418,
+            8.86640419354556,
+            0.49375827572871456
+        ],
+        [
+            2.0511468781489404,
+            11.318294575497905,
+            0.5848331582814773
+        ],
+        [
+            1.3908710850729173,
+            13.616100238788487,
+            0.8526310874007652
+        ],
+        [
+            0.8415885503619753,
+            15.745345361626601,
+            1.151325480280152
+        ],
+        [
+            0.27133054705095905,
+            18.05393534035517,
+            1.874128076760509
+        ],
+        [
+            -0.2351514199673277,
+            20.156349091253215,
+            2.316086163665979
+        ],
+        [
+            -0.782188459671306,
+            22.222073377774105,
+            2.7372877955712047
+        ],
+        [
+            -1.3311043077739964,
+            24.355429055386335,
+            3.0635514076158206
+        ],
+        [
+            -1.6646539709029105,
+            26.39586197724687,
+            3.7527990427624927
+        ],
+        [
+            -2.0196373996919617,
+            28.647160565554056,
+            4.1561367954118404
+        ],
+        [
+            -2.5375438759164624,
+            30.91114723037116,
+            4.29544553765736
+        ],
+        [
+            -2.718553708061857,
+            33.011921704532256,
+            4.941195391820643
+        ],
+        [
+            -2.744234451009608,
+            35.03529357750803,
+            4.485611192049436
+        ],
+        [
+            -2.5106904112201356,
+            37.11535915613558,
+            5.353868043070323
+        ],
+        [
+            -2.2104115918660767,
+            39.3849272911054,
+            4.934866144035416
+        ],
+        [
+            -1.333721137693133,
+            41.70068015023733,
+            4.589800064874843
+        ],
+        [
+            0.1059361222828441,
+            43.72419284527275,
+            4.474210313832805
+        ],
+        [
+            3.3579141526247396,
+            46.065494962215496,
+            4.13000522465026
+        ],
+        [
+            8.433307881292027,
+            48.22213594676337,
+            4.285502067464356
+        ],
+        [
+            13.675768126620607,
+            50.42903858243659,
+            4.374720153909505
+        ],
+        [
+            17.765751347656007,
+            52.445846222516266,
+            4.1441809211004825
+        ],
+        [
+            22.424219070117726,
+            54.50026282853298,
+            4.166045833840244
+        ],
+        [
+            27.379436487456122,
+            56.6426039414758,
+            3.8890557443240565
+        ],
+        [
+            31.810081975551835,
+            58.657838101703774,
+            4.010732595570664
+        ],
+        [
+            36.510164212779884,
+            60.73776460408277,
+            3.7254396860376593
+        ],
+        [
+            41.707677583595895,
+            62.91291584105315,
+            3.8098247657620687
+        ],
+        [
+            46.34979725565606,
+            64.92099458532367,
+            3.9874411007035544
+        ],
+        [
+            49.30911734014769,
+            67.0583354339054,
+            4.061054316272341
+        ],
+        [
+            50.691223679402526,
+            69.10958267093555,
+            3.9400202374028357
+        ],
+        [
+            51.45577879156361,
+            71.6619229844548,
+            4.230109633054857
+        ],
+        [
+            51.441448147483015,
+            73.75211168731117,
+            4.31981926923122
+        ],
+        [
+            51.176897228864256,
+            75.88279110218296,
+            4.459158887127563
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -0.4122183840796412,
+            -26.079877187571668,
+            -0.24380363324148202
+        ],
+        [
+            0.7695306030713498,
+            -23.800818993398202,
+            -0.09488509111727511
+        ],
+        [
+            1.371398747434065,
+            -21.74476184195474,
+            -0.1910208088999163
+        ],
+        [
+            1.8784010207445574,
+            -19.42367561908347,
+            -0.06706847644444819
+        ],
+        [
+            2.2866731856761495,
+            -17.337140147720948,
+            0.0114255292251777
+        ],
+        [
+            2.64410878838122,
+            -15.219589548565475,
+            -0.00675131998388126
+        ],
+        [
+            2.9455641909643075,
+            -12.974599541448743,
+            0.11275141473578082
+        ],
+        [
+            3.250639009231951,
+            -10.742543722739434,
+            0.06929237533235694
+        ],
+        [
+            3.541654569371171,
+            -8.553841857569047,
+            -0.06706167372940591
+        ],
+        [
+            3.737152638975309,
+            -6.289013726027246,
+            -0.0666949709492182
+        ],
+        [
+            3.8882186749865975,
+            -4.0073380353899,
+            -0.06410649177933014
+        ],
+        [
+            3.9610883049107146,
+            -1.9790360126787476,
+            -0.06101919934352981
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354869792.json

@@ -0,0 +1,500 @@
+{
+    "timestamp": {
+        "sec": 1754654252,
+        "nsec": 20217000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -1.7763568394002505e-15,
+            0.0,
+            0.0
+        ],
+        [
+            -0.15142425027119977,
+            2.0920143017354746,
+            -0.03491061272810411
+        ],
+        [
+            -0.4034242513489108,
+            4.23732323788289,
+            0.16721356852898608
+        ],
+        [
+            -0.7037883458699916,
+            6.332734963350909,
+            0.1877274748046874
+        ],
+        [
+            -1.2002882987483758,
+            8.684997364514722,
+            0.3895097903277214
+        ],
+        [
+            -1.8096503561140764,
+            11.140075432594763,
+            0.4726799215851297
+        ],
+        [
+            -2.458605699954127,
+            13.441932283521645,
+            0.733261424296739
+        ],
+        [
+            -2.997273370012506,
+            15.57483495316496,
+            1.0251137490575177
+        ],
+        [
+            -3.555030429685708,
+            17.88880411249344,
+            1.7404313468882708
+        ],
+        [
+            -4.050666073479558,
+            19.995226977619154,
+            2.175543442028867
+        ],
+        [
+            -4.587077832633437,
+            22.065069659660864,
+            2.590140670299633
+        ],
+        [
+            -5.125291202287483,
+            24.20218690395886,
+            2.9095451989037127
+        ],
+        [
+            -5.44766896827738,
+            26.246776233871365,
+            3.591755750672242
+        ],
+        [
+            -5.791214483502235,
+            28.501229729812557,
+            3.987300722512863
+        ],
+        [
+            -6.298278758052957,
+            30.76811419905959,
+            4.119172959211607
+        ],
+        [
+            -6.467947449779698,
+            32.87216892958853,
+            4.757277222446468
+        ],
+        [
+            -6.485387244056678,
+            34.89387501705125,
+            4.29397327309919
+        ],
+        [
+            -6.240050271104116,
+            36.97615061607791,
+            5.153638143067505
+        ],
+        [
+            -5.930303444504538,
+            39.242675684163636,
+            4.725163524019348
+        ],
+        [
+            -5.0437550810182366,
+            41.55299249482842,
+            4.3690226957470255
+        ],
+        [
+            -3.5950307767043714,
+            43.56934159901447,
+            4.242090336376463
+        ],
+        [
+            -0.33310716984470545,
+            45.894183725556694,
+            3.880846200490102
+        ],
+        [
+            4.752594392051371,
+            48.027820841101935,
+            4.0155064687491775
+        ],
+        [
+            10.005428149861846,
+            50.21068877993215,
+            4.083282633990316
+        ],
+        [
+            14.543907397027873,
+            52.38632211376606,
+            3.9258832751097774
+        ],
+        [
+            19.366656323714142,
+            54.425121778235415,
+            3.6695104754095738
+        ],
+        [
+            23.84263530293916,
+            56.46816771552697,
+            3.6513499767600117
+        ],
+        [
+            28.54203618707339,
+            58.52417600724164,
+            3.633807934693565
+        ],
+        [
+            33.285395373787736,
+            60.614812168794565,
+            3.3823766403607065
+        ],
+        [
+            38.395576837501224,
+            62.70778354666063,
+            3.438166914033636
+        ],
+        [
+            43.25024987251358,
+            64.79156427678268,
+            3.3866425327953102
+        ],
+        [
+            46.06954787632418,
+            66.99803791031164,
+            3.698355629711465
+        ],
+        [
+            47.26842995749331,
+            69.20329887778098,
+            3.7539966218463916
+        ],
+        [
+            47.882923835665224,
+            71.2672471957564,
+            3.763647954484185
+        ],
+        [
+            47.87849989297246,
+            73.35780877235285,
+            3.8453469319599574
+        ],
+        [
+            47.624170168616786,
+            75.49021237726353,
+            3.9771374615478905
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -4.448299771900404,
+            -26.249162196447568,
+            -0.2059196267856125
+        ],
+        [
+            -3.255638354413124,
+            -23.975059893521326,
+            -0.06869312674722214
+        ],
+        [
+            -2.644492422484401,
+            -21.922203005380787,
+            -0.1742279368097146
+        ],
+        [
+            -2.126435785288516,
+            -19.603036871352415,
+            -0.060462813423076495
+        ],
+        [
+            -1.7083075837381738,
+            -17.518133346254082,
+            0.008991062918073917
+        ],
+        [
+            -1.3411120145873543,
+            -15.402350231494779,
+            -0.01821873692384718
+        ],
+        [
+            -1.0289630104924985,
+            -13.158341799289003,
+            0.09189734200181934
+        ],
+        [
+            -0.7136599126242444,
+            -10.927909488070789,
+            0.03909419598334446
+        ],
+        [
+            -0.4128477941852555,
+            -8.74112156082274,
+            -0.10640139907519539
+        ],
+        [
+            -0.20685909150098958,
+            -6.477240662757904,
+            -0.11523479347368157
+        ],
+        [
+            -0.0452182308617779,
+            -4.196297718589182,
+            -0.12180155254741071
+        ],
+        [
+            0.03705472403239263,
+            -2.16835892157912,
+            -0.1267011595096832
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.5120651141915138,
+            0.0,
+            0.0
+        ],
+        [
+            0.3606408639203158,
+            2.0920143017354746,
+            -0.03491061272810411
+        ],
+        [
+            0.10864086284260477,
+            4.23732323788289,
+            0.16721356852898608
+        ],
+        [
+            -0.19172323167847605,
+            6.332734963350909,
+            0.1877274748046874
+        ],
+        [
+            -0.6882231845568603,
+            8.684997364514722,
+            0.3895097903277214
+        ],
+        [
+            -1.2975852419225609,
+            11.140075432594763,
+            0.4726799215851297
+        ],
+        [
+            -1.9465405857626115,
+            13.441932283521645,
+            0.733261424296739
+        ],
+        [
+            -2.4852082558209903,
+            15.57483495316496,
+            1.0251137490575177
+        ],
+        [
+            -3.0429653154941922,
+            17.88880411249344,
+            1.7404313468882708
+        ],
+        [
+            -3.5386009592880425,
+            19.995226977619154,
+            2.175543442028867
+        ],
+        [
+            -4.075012718441921,
+            22.065069659660864,
+            2.590140670299633
+        ],
+        [
+            -4.613226088095967,
+            24.20218690395886,
+            2.9095451989037127
+        ],
+        [
+            -4.935603854085865,
+            26.246776233871365,
+            3.591755750672242
+        ],
+        [
+            -5.279149369310719,
+            28.501229729812557,
+            3.987300722512863
+        ],
+        [
+            -5.7862136438614415,
+            30.76811419905959,
+            4.119172959211607
+        ],
+        [
+            -5.955882335588182,
+            32.87216892958853,
+            4.757277222446468
+        ],
+        [
+            -5.973322129865163,
+            34.89387501705125,
+            4.29397327309919
+        ],
+        [
+            -5.727985156912601,
+            36.97615061607791,
+            5.153638143067505
+        ],
+        [
+            -5.418238330313023,
+            39.242675684163636,
+            4.725163524019348
+        ],
+        [
+            -4.531689966826721,
+            41.55299249482842,
+            4.3690226957470255
+        ],
+        [
+            -3.082965662512856,
+            43.56934159901447,
+            4.242090336376463
+        ],
+        [
+            0.17895794434681012,
+            45.894183725556694,
+            3.880846200490102
+        ],
+        [
+            5.264659506242887,
+            48.027820841101935,
+            4.0155064687491775
+        ],
+        [
+            10.51749326405336,
+            50.21068877993215,
+            4.083282633990316
+        ],
+        [
+            15.055972511219387,
+            52.38632211376606,
+            3.9258832751097774
+        ],
+        [
+            19.878721437905657,
+            54.425121778235415,
+            3.6695104754095738
+        ],
+        [
+            24.354700417130676,
+            56.46816771552697,
+            3.6513499767600117
+        ],
+        [
+            29.054101301264904,
+            58.52417600724164,
+            3.633807934693565
+        ],
+        [
+            33.79746048797925,
+            60.614812168794565,
+            3.3823766403607065
+        ],
+        [
+            38.90764195169274,
+            62.70778354666063,
+            3.438166914033636
+        ],
+        [
+            43.76231498670509,
+            64.79156427678268,
+            3.3866425327953102
+        ],
+        [
+            46.581612990515694,
+            66.99803791031164,
+            3.698355629711465
+        ],
+        [
+            47.780495071684825,
+            69.20329887778098,
+            3.7539966218463916
+        ],
+        [
+            48.39498894985674,
+            71.2672471957564,
+            3.763647954484185
+        ],
+        [
+            48.39056500716397,
+            73.35780877235285,
+            3.8453469319599574
+        ],
+        [
+            48.1362352828083,
+            75.49021237726353,
+            3.9771374615478905
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -3.936234657708888,
+            -26.249162196447568,
+            -0.2059196267856125
+        ],
+        [
+            -2.7435732402216084,
+            -23.975059893521326,
+            -0.06869312674722214
+        ],
+        [
+            -2.1324273082928853,
+            -21.922203005380787,
+            -0.1742279368097146
+        ],
+        [
+            -1.6143706710970003,
+            -19.603036871352415,
+            -0.060462813423076495
+        ],
+        [
+            -1.1962424695466582,
+            -17.518133346254082,
+            0.008991062918073917
+        ],
+        [
+            -0.8290469003958387,
+            -15.402350231494779,
+            -0.01821873692384718
+        ],
+        [
+            -0.5168978963009829,
+            -13.158341799289003,
+            0.09189734200181934
+        ],
+        [
+            -0.20159479843272887,
+            -10.927909488070789,
+            0.03909419598334446
+        ],
+        [
+            0.09921732000626005,
+            -8.74112156082274,
+            -0.10640139907519539
+        ],
+        [
+            0.305206022690526,
+            -6.477240662757904,
+            -0.11523479347368157
+        ],
+        [
+            0.46684688332973767,
+            -4.196297718589182,
+            -0.12180155254741071
+        ],
+        [
+            0.5491198382239082,
+            -2.16835892157912,
+            -0.1267011595096832
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354869995.json

@@ -0,0 +1,500 @@
+{
+    "timestamp": {
+        "sec": 1754654262,
+        "nsec": 765326000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.12309563281328018,
+            1.47263622466847,
+            -0.08081774895095226
+        ],
+        [
+            -0.3489638748757642,
+            3.6228122038502306,
+            0.09928059219444457
+        ],
+        [
+            -0.6237630744671048,
+            5.721829614873883,
+            0.09827213764647406
+        ],
+        [
+            -1.0915898843190952,
+            8.081909584049086,
+            0.27583149413516367
+        ],
+        [
+            -1.6709921617118564,
+            10.54495493201135,
+            0.3336961888243683
+        ],
+        [
+            -2.291889826077245,
+            12.857095307799995,
+            0.5705161479632859
+        ],
+        [
+            -2.804574393650851,
+            14.999278370985188,
+            0.8403692457412415
+        ],
+        [
+            -3.334227724193237,
+            17.32706813054562,
+            1.5318080777690435
+        ],
+        [
+            -3.8042361798887914,
+            19.443715227020938,
+            1.9451984913229476
+        ],
+        [
+            -4.315459419138094,
+            21.524074002786328,
+            2.338435479915554
+        ],
+        [
+            -4.82764408319545,
+            23.67074732430794,
+            2.635796406425467
+        ],
+        [
+            -5.125212939607875,
+            25.72598374787966,
+            3.296962200956986
+        ],
+        [
+            -5.441329561560368,
+            27.98838428408694,
+            3.6693249357135165
+        ],
+        [
+            -5.799136177524085,
+            29.99116180017719,
+            3.9798967686668445
+        ],
+        [
+            -6.087286425451059,
+            32.14032209474835,
+            4.2270253461855924
+        ],
+        [
+            -6.125132689468572,
+            34.196185800186946,
+            3.8912677863136116
+        ],
+        [
+            -5.787050685816013,
+            36.47963048443834,
+            4.748813444469722
+        ],
+        [
+            -5.449604500478257,
+            38.73771146572664,
+            4.297293972062391
+        ],
+        [
+            -4.53488084622181,
+            41.03328769503367,
+            3.9178490250842564
+        ],
+        [
+            -2.8632796209669973,
+            43.199450787616875,
+            3.6622583517058565
+        ],
+        [
+            0.2284456095838383,
+            45.31151897905659,
+            3.3868881120721896
+        ],
+        [
+            5.339753871594734,
+            47.38427330396923,
+            3.501423978101552
+        ],
+        [
+            10.618796066108391,
+            49.50353106992626,
+            3.5486316482009124
+        ],
+        [
+            15.183495618729292,
+            51.62195974363332,
+            3.370511500153651
+        ],
+        [
+            20.274571371994725,
+            53.726696543679246,
+            3.142992759619654
+        ],
+        [
+            24.866436879339993,
+            55.75350787528222,
+            3.209127337720523
+        ],
+        [
+            29.876225249426803,
+            57.85790909125132,
+            3.0038211979639344
+        ],
+        [
+            34.861767544571514,
+            59.885020916291005,
+            2.6935109901258776
+        ],
+        [
+            39.923147837911955,
+            61.88507906282373,
+            2.642048689146093
+        ],
+        [
+            44.47939636835281,
+            63.8944418929647,
+            2.8232622972564365
+        ],
+        [
+            47.04310022973286,
+            65.97372682411915,
+            2.720826023485664
+        ],
+        [
+            48.1106503750181,
+            68.03616980622286,
+            3.0376196408497074
+        ],
+        [
+            48.75025980336815,
+            70.09246547710859,
+            3.0263756705385387
+        ],
+        [
+            48.77130686108688,
+            72.18365182091162,
+            3.086697280133785
+        ],
+        [
+            48.5429663987118,
+            74.32023325273934,
+            3.1965968025500566
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -4.5380706585135115,
+            -26.448228646510145,
+            0.019411788577587963
+        ],
+        [
+            -3.444919883002818,
+            -24.377757311395335,
+            0.027547538836338273
+        ],
+        [
+            -2.870204849639565,
+            -22.28924686999951,
+            0.006310336951771411
+        ],
+        [
+            -2.3624567557181226,
+            -20.195856571534122,
+            0.11475981482568089
+        ],
+        [
+            -1.918955396156333,
+            -18.11560328528138,
+            0.16303560523368113
+        ],
+        [
+            -1.5259862441548542,
+            -16.004842001878664,
+            0.11432012540059946
+        ],
+        [
+            -1.1865249083263674,
+            -13.763796344316072,
+            0.20159416279647835
+        ],
+        [
+            -0.8440412516648852,
+            -11.538029580982233,
+            0.12609733611364993
+        ],
+        [
+            -0.5165602685440494,
+            -9.356672938577724,
+            -0.04164574681665134
+        ],
+        [
+            -0.2829842520845105,
+            -7.095679741849114,
+            -0.07355348874276524
+        ],
+        [
+            -0.09354523631499845,
+            -4.817062922441973,
+            -0.10338391490730406
+        ],
+        [
+            0.013446850336485738,
+            -2.7904337579065377,
+            -0.12898728426323658
+        ],
+        [
+            0.002804656601975708,
+            -0.6206019774353564,
+            -0.024472034869866488
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.7592644117307588,
+            1.47263622466847,
+            -0.08081774895095226
+        ],
+        [
+            0.5333961696682747,
+            3.6228122038502306,
+            0.09928059219444457
+        ],
+        [
+            0.25859697007693416,
+            5.721829614873883,
+            0.09827213764647406
+        ],
+        [
+            -0.20922983977505627,
+            8.081909584049086,
+            0.27583149413516367
+        ],
+        [
+            -0.7886321171678174,
+            10.54495493201135,
+            0.3336961888243683
+        ],
+        [
+            -1.4095297815332062,
+            12.857095307799995,
+            0.5705161479632859
+        ],
+        [
+            -1.9222143491068122,
+            14.999278370985188,
+            0.8403692457412415
+        ],
+        [
+            -2.4518676796491983,
+            17.32706813054562,
+            1.5318080777690435
+        ],
+        [
+            -2.9218761353447524,
+            19.443715227020938,
+            1.9451984913229476
+        ],
+        [
+            -3.433099374594055,
+            21.524074002786328,
+            2.338435479915554
+        ],
+        [
+            -3.945284038651411,
+            23.67074732430794,
+            2.635796406425467
+        ],
+        [
+            -4.2428528950638364,
+            25.72598374787966,
+            3.296962200956986
+        ],
+        [
+            -4.558969517016329,
+            27.98838428408694,
+            3.6693249357135165
+        ],
+        [
+            -4.916776132980046,
+            29.99116180017719,
+            3.9798967686668445
+        ],
+        [
+            -5.20492638090702,
+            32.14032209474835,
+            4.2270253461855924
+        ],
+        [
+            -5.242772644924533,
+            34.196185800186946,
+            3.8912677863136116
+        ],
+        [
+            -4.904690641271974,
+            36.47963048443834,
+            4.748813444469722
+        ],
+        [
+            -4.567244455934218,
+            38.73771146572664,
+            4.297293972062391
+        ],
+        [
+            -3.6525208016777713,
+            41.03328769503367,
+            3.9178490250842564
+        ],
+        [
+            -1.9809195764229584,
+            43.199450787616875,
+            3.6622583517058565
+        ],
+        [
+            1.1108056541278772,
+            45.31151897905659,
+            3.3868881120721896
+        ],
+        [
+            6.222113916138773,
+            47.38427330396923,
+            3.501423978101552
+        ],
+        [
+            11.501156110652431,
+            49.50353106992626,
+            3.5486316482009124
+        ],
+        [
+            16.065855663273332,
+            51.62195974363332,
+            3.370511500153651
+        ],
+        [
+            21.156931416538765,
+            53.726696543679246,
+            3.142992759619654
+        ],
+        [
+            25.748796923884033,
+            55.75350787528222,
+            3.209127337720523
+        ],
+        [
+            30.758585293970842,
+            57.85790909125132,
+            3.0038211979639344
+        ],
+        [
+            35.74412758911555,
+            59.885020916291005,
+            2.6935109901258776
+        ],
+        [
+            40.80550788245599,
+            61.88507906282373,
+            2.642048689146093
+        ],
+        [
+            45.361756412896845,
+            63.8944418929647,
+            2.8232622972564365
+        ],
+        [
+            47.925460274276894,
+            65.97372682411915,
+            2.720826023485664
+        ],
+        [
+            48.99301041956214,
+            68.03616980622286,
+            3.0376196408497074
+        ],
+        [
+            49.63261984791219,
+            70.09246547710859,
+            3.0263756705385387
+        ],
+        [
+            49.653666905630914,
+            72.18365182091162,
+            3.086697280133785
+        ],
+        [
+            49.425326443255834,
+            74.32023325273934,
+            3.1965968025500566
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -3.6557106139694726,
+            -26.448228646510145,
+            0.019411788577587963
+        ],
+        [
+            -2.562559838458779,
+            -24.377757311395335,
+            0.027547538836338273
+        ],
+        [
+            -1.9878448050955262,
+            -22.28924686999951,
+            0.006310336951771411
+        ],
+        [
+            -1.4800967111740837,
+            -20.195856571534122,
+            0.11475981482568089
+        ],
+        [
+            -1.036595351612294,
+            -18.11560328528138,
+            0.16303560523368113
+        ],
+        [
+            -0.6436261996108152,
+            -16.004842001878664,
+            0.11432012540059946
+        ],
+        [
+            -0.30416486378232843,
+            -13.763796344316072,
+            0.20159416279647835
+        ],
+        [
+            0.03831879287915374,
+            -11.538029580982233,
+            0.12609733611364993
+        ],
+        [
+            0.3657997759999896,
+            -9.356672938577724,
+            -0.04164574681665134
+        ],
+        [
+            0.5993757924595284,
+            -7.095679741849114,
+            -0.07355348874276524
+        ],
+        [
+            0.7888148082290405,
+            -4.817062922441973,
+            -0.10338391490730406
+        ],
+        [
+            0.8958068948805247,
+            -2.7904337579065377,
+            -0.12898728426323658
+        ],
+        [
+            0.8851647011460146,
+            -0.6206019774353564,
+            -0.024472034869866488
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354870095.json

@@ -0,0 +1,500 @@
+{
+    "timestamp": {
+        "sec": 1754654268,
+        "nsec": 229288000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.060578032604004406,
+            0.9439200901078841,
+            -0.03972521202643006
+        ],
+        [
+            -0.2664470212697978,
+            3.096368814008244,
+            0.13716760069195416
+        ],
+        [
+            -0.521460404386648,
+            5.197877817745201,
+            0.1329497219790694
+        ],
+        [
+            -0.9672960267606658,
+            7.562496274377025,
+            0.30666461015368374
+        ],
+        [
+            -1.5235562023250804,
+            10.030964776508206,
+            0.36038219689414547
+        ],
+        [
+            -2.1229944077140956,
+            12.349167299402197,
+            0.5931946123297642
+        ],
+        [
+            -2.615873918749065,
+            14.496445650124933,
+            0.8594274212121127
+        ],
+        [
+            -3.1245928267713143,
+            16.83005074206116,
+            1.5469721988193492
+        ],
+        [
+            -3.5752497064345423,
+            18.951585980399855,
+            1.9568394001912008
+        ],
+        [
+            -4.067431691064003,
+            21.037195501091638,
+            2.346540550633356
+        ],
+        [
+            -4.559809462136094,
+            23.188996301936548,
+            2.640275880616545
+        ],
+        [
+            -4.838977276964746,
+            25.247833883347326,
+            3.2982556169879658
+        ],
+        [
+            -5.134316069948365,
+            27.513611336224898,
+            3.6671288235666117
+        ],
+        [
+            -5.47369766597847,
+            29.520086793540607,
+            3.974496011590607
+        ],
+        [
+            -5.741953933377434,
+            31.672196836422273,
+            4.218327939969696
+        ],
+        [
+            -5.759939549892617,
+            33.727871048189726,
+            3.879770549378632
+        ],
+        [
+            -5.401624451063846,
+            36.00918514217943,
+            4.734767577190582
+        ],
+        [
+            -5.042259700763706,
+            38.26337698642814,
+            4.280734995119403
+        ],
+        [
+            -4.105396478352043,
+            40.549723033744584,
+            3.8995826497035724
+        ],
+        [
+            -2.4130911667738317,
+            42.69970089387351,
+            3.6435792793729402
+        ],
+        [
+            0.698793137198777,
+            44.78218547518297,
+            3.3699741575471784
+        ],
+        [
+            5.829225200479479,
+            46.80686427236982,
+            3.4893212045795043
+        ],
+        [
+            11.127920589999873,
+            48.87637394341229,
+            3.5415268046428046
+        ],
+        [
+            15.712629228845033,
+            50.951478021657294,
+            3.3673470131295598
+        ],
+        [
+            20.823633792295503,
+            53.007867020766966,
+            3.1445674427504935
+        ],
+        [
+            25.85761685309261,
+            55.10932174144354,
+            3.1007607344530075
+        ],
+        [
+            30.635557099465288,
+            57.15126244294957,
+            3.0209329120585906
+        ],
+        [
+            35.68135977357538,
+            59.169040107500635,
+            2.8057393244141204
+        ],
+        [
+            41.04532110616078,
+            61.23371318325522,
+            3.0028991954143502
+        ],
+        [
+            45.61466788689786,
+            63.234650043068584,
+            2.715540540646593
+        ],
+        [
+            47.887244862526806,
+            65.4002510136923,
+            2.939245063184373
+        ],
+        [
+            49.09522500407076,
+            67.65401914771951,
+            2.9379111216774807
+        ],
+        [
+            49.53263340525721,
+            70.07234465910362,
+            3.1095084091889724
+        ],
+        [
+            49.37900290237646,
+            72.15397024730181,
+            3.157563626065931
+        ],
+        [
+            49.172049893981715,
+            74.1730332298307,
+            3.295273135018467
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -4.738502352813256,
+            -26.93396757003361,
+            0.09122995317014587
+        ],
+        [
+            -3.625910262261513,
+            -24.873873809728146,
+            0.09822257472350839
+        ],
+        [
+            -3.0315172536086195,
+            -22.79089896238652,
+            0.07504955714496295
+        ],
+        [
+            -2.5042328173026096,
+            -20.702238888654016,
+            0.18145715774848556
+        ],
+        [
+            -2.0412274839347084,
+            -18.626191346123903,
+            0.22761347113637226
+        ],
+        [
+            -1.6283221099635163,
+            -16.51929211843333,
+            0.1766630598075452
+        ],
+        [
+            -1.267894805171771,
+            -14.281427073765919,
+            0.2614486436192396
+        ],
+        [
+            -0.9043499605953631,
+            -12.059088242109151,
+            0.1834885642621749
+        ],
+        [
+            -0.5560898279463409,
+            -9.8811406553483,
+            0.013319451703973431
+        ],
+        [
+            -0.3011799332307117,
+            -7.6224925434379145,
+            -0.02126012684673212
+        ],
+        [
+            -0.09024208008893275,
+            -5.345803140303282,
+            -0.05385135990702408
+        ],
+        [
+            0.03587276106789261,
+            -3.320307835089171,
+            -0.08200140554800181
+        ],
+        [
+            0.045516297768578795,
+            -1.1503330576848363,
+            0.019601334645928073
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.8923686077681765,
+            0.9439200901078841,
+            -0.03972521202643006
+        ],
+        [
+            1.686499619102383,
+            3.096368814008244,
+            0.13716760069195416
+        ],
+        [
+            1.431486235985533,
+            5.197877817745201,
+            0.1329497219790694
+        ],
+        [
+            0.9856506136115151,
+            7.562496274377025,
+            0.30666461015368374
+        ],
+        [
+            0.42939043804710053,
+            10.030964776508206,
+            0.36038219689414547
+        ],
+        [
+            -0.17004776734191474,
+            12.349167299402197,
+            0.5931946123297642
+        ],
+        [
+            -0.662927278376884,
+            14.496445650124933,
+            0.8594274212121127
+        ],
+        [
+            -1.1716461863991334,
+            16.83005074206116,
+            1.5469721988193492
+        ],
+        [
+            -1.6223030660623614,
+            18.951585980399855,
+            1.9568394001912008
+        ],
+        [
+            -2.1144850506918225,
+            21.037195501091638,
+            2.346540550633356
+        ],
+        [
+            -2.6068628217639134,
+            23.188996301936548,
+            2.640275880616545
+        ],
+        [
+            -2.886030636592565,
+            25.247833883347326,
+            3.2982556169879658
+        ],
+        [
+            -3.1813694295761845,
+            27.513611336224898,
+            3.6671288235666117
+        ],
+        [
+            -3.5207510256062893,
+            29.520086793540607,
+            3.974496011590607
+        ],
+        [
+            -3.7890072930052527,
+            31.672196836422273,
+            4.218327939969696
+        ],
+        [
+            -3.806992909520436,
+            33.727871048189726,
+            3.879770549378632
+        ],
+        [
+            -3.448677810691665,
+            36.00918514217943,
+            4.734767577190582
+        ],
+        [
+            -3.0893130603915253,
+            38.26337698642814,
+            4.280734995119403
+        ],
+        [
+            -2.1524498379798622,
+            40.549723033744584,
+            3.8995826497035724
+        ],
+        [
+            -0.4601445264016508,
+            42.69970089387351,
+            3.6435792793729402
+        ],
+        [
+            2.651739777570958,
+            44.78218547518297,
+            3.3699741575471784
+        ],
+        [
+            7.78217184085166,
+            46.80686427236982,
+            3.4893212045795043
+        ],
+        [
+            13.080867230372053,
+            48.87637394341229,
+            3.5415268046428046
+        ],
+        [
+            17.665575869217214,
+            50.951478021657294,
+            3.3673470131295598
+        ],
+        [
+            22.776580432667686,
+            53.007867020766966,
+            3.1445674427504935
+        ],
+        [
+            27.81056349346479,
+            55.10932174144354,
+            3.1007607344530075
+        ],
+        [
+            32.58850373983747,
+            57.15126244294957,
+            3.0209329120585906
+        ],
+        [
+            37.63430641394756,
+            59.169040107500635,
+            2.8057393244141204
+        ],
+        [
+            42.99826774653296,
+            61.23371318325522,
+            3.0028991954143502
+        ],
+        [
+            47.567614527270045,
+            63.234650043068584,
+            2.715540540646593
+        ],
+        [
+            49.84019150289899,
+            65.4002510136923,
+            2.939245063184373
+        ],
+        [
+            51.048171644442945,
+            67.65401914771951,
+            2.9379111216774807
+        ],
+        [
+            51.48558004562939,
+            70.07234465910362,
+            3.1095084091889724
+        ],
+        [
+            51.331949542748646,
+            72.15397024730181,
+            3.157563626065931
+        ],
+        [
+            51.1249965343539,
+            74.1730332298307,
+            3.295273135018467
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -2.7855557124410755,
+            -26.93396757003361,
+            0.09122995317014587
+        ],
+        [
+            -1.6729636218893322,
+            -24.873873809728146,
+            0.09822257472350839
+        ],
+        [
+            -1.0785706132364385,
+            -22.79089896238652,
+            0.07504955714496295
+        ],
+        [
+            -0.5512861769304287,
+            -20.702238888654016,
+            0.18145715774848556
+        ],
+        [
+            -0.08828084356252752,
+            -18.626191346123903,
+            0.22761347113637226
+        ],
+        [
+            0.32462453040866457,
+            -16.51929211843333,
+            0.1766630598075452
+        ],
+        [
+            0.6850518352004098,
+            -14.281427073765919,
+            0.2614486436192396
+        ],
+        [
+            1.0485966797768178,
+            -12.059088242109151,
+            0.1834885642621749
+        ],
+        [
+            1.39685681242584,
+            -9.8811406553483,
+            0.013319451703973431
+        ],
+        [
+            1.6517667071414692,
+            -7.6224925434379145,
+            -0.02126012684673212
+        ],
+        [
+            1.8627045602832482,
+            -5.345803140303282,
+            -0.05385135990702408
+        ],
+        [
+            1.9888194014400735,
+            -3.320307835089171,
+            -0.08200140554800181
+        ],
+        [
+            1.9984629381407597,
+            -1.1503330576848363,
+            0.019601334645928073
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354870299.json

@@ -0,0 +1,490 @@
+{
+    "timestamp": {
+        "sec": 1754654292,
+        "nsec": 29390000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.01632753882086213,
+            0.3540232570360864,
+            0.0012674950152321979
+        ],
+        [
+            -0.19643493336795004,
+            2.508310142074958,
+            0.18379957462036278
+        ],
+        [
+            -0.426501176141457,
+            4.612700172392817,
+            0.18515349185530178
+        ],
+        [
+            -0.8440445420751495,
+            6.981995631350028,
+            0.3653291720246849
+        ],
+        [
+            -1.3709139469777636,
+            9.45674558175958,
+            0.4259016177691841
+        ],
+        [
+            -1.9425300078595278,
+            11.781301669176333,
+            0.6652440406882117
+        ],
+        [
+            -2.4095835225508715,
+            13.93359799487084,
+            0.9374498033427944
+        ],
+        [
+            -2.8897677865611904,
+            16.271334051244278,
+            1.6314517320385726
+        ],
+        [
+            -3.3147377409885106,
+            18.397026536634794,
+            2.0471758098225616
+        ],
+        [
+            -3.7816798789809933,
+            20.48733930237815,
+            2.442694136309921
+        ],
+        [
+            -4.248145601675976,
+            22.64408252118677,
+            2.7424130341402817
+        ],
+        [
+            -4.502090013638389,
+            24.704422847997453,
+            3.4058843314032
+        ],
+        [
+            -4.770089855166596,
+            26.972607845073863,
+            3.7807880725413003
+        ],
+        [
+            -5.085278460702085,
+            28.98218725950103,
+            4.093589825827873
+        ],
+        [
+            -5.3276937860223015,
+            31.136706908693274,
+            4.3431353372330515
+        ],
+        [
+            -5.32168716990169,
+            33.193296070180196,
+            4.009749681470466
+        ],
+        [
+            -4.935322029900803,
+            35.46803861143253,
+            4.870024040417076
+        ],
+        [
+            -4.549772661611621,
+            37.71894561112535,
+            4.4212046520617285
+        ],
+        [
+            -3.5862984320897056,
+            39.99497070756102,
+            4.0446475840825
+        ],
+        [
+            -1.8689062250238138,
+            42.12536151559087,
+            3.7919841628432653
+        ],
+        [
+            1.2671425148799447,
+            44.17146957755904,
+            3.519833809014837
+        ],
+        [
+            6.808025688277249,
+            46.32439109304602,
+            3.9421401007994845
+        ],
+        [
+            12.069417402669908,
+            48.34872908291075,
+            3.7408400662948478
+        ],
+        [
+            16.932738191261635,
+            50.396416546959145,
+            3.2899635386015866
+        ],
+        [
+            22.105580125016616,
+            52.40179978869982,
+            3.314709220098317
+        ],
+        [
+            27.219349922204188,
+            54.49090970140132,
+            3.3329850494192033
+        ],
+        [
+            32.36056490676803,
+            56.54318140397989,
+            3.0281214694090437
+        ],
+        [
+            37.59534964973537,
+            58.59847203620879,
+            2.8365072769560618
+        ],
+        [
+            43.19156178288293,
+            60.617444500134766,
+            3.1480435723659452
+        ],
+        [
+            47.19949819183848,
+            62.67350817646199,
+            3.0086479746977832
+        ],
+        [
+            49.14036584350071,
+            64.88416766449828,
+            3.097349377055662
+        ],
+        [
+            50.12311820299766,
+            66.90564379822327,
+            2.958683510175952
+        ],
+        [
+            50.378037679071184,
+            69.08772045913878,
+            3.2774139960447664
+        ],
+        [
+            50.28392005798332,
+            71.1100334944918,
+            3.3359350575525943
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -5.02453050752435,
+            -27.46665588948533,
+            0.0680540426441414
+        ],
+        [
+            -3.8875666568684046,
+            -25.41992855955281,
+            0.0788613167182749
+        ],
+        [
+            -3.2685291426071608,
+            -23.344099069311575,
+            0.060186855037366586
+        ],
+        [
+            -2.7163751806340173,
+            -21.262115127877507,
+            0.17118788083901784
+        ],
+        [
+            -2.2287164431175093,
+            -19.19182856424508,
+            0.2219839732559855
+        ],
+        [
+            -1.7909025584141887,
+            -17.089853717053774,
+            0.1758115567273996
+        ],
+        [
+            -1.403849075399883,
+            -14.856642087670558,
+            0.26576607345701453
+        ],
+        [
+            -1.014054391959366,
+            -12.638582587946658,
+            0.19293290019745762
+        ],
+        [
+            -0.6401787559511707,
+            -10.464497510210194,
+            0.027798345660491247
+        ],
+        [
+            -0.35852934540008086,
+            -8.20895205982935,
+            -0.00143221908746137
+        ],
+        [
+            -0.12063244979370147,
+            -5.934850065297905,
+            -0.02857609933605311
+        ],
+        [
+            0.029472332260533918,
+            -3.910928732019432,
+            -0.051805407951415514
+        ],
+        [
+            0.06498130797694479,
+            -1.74148380944046,
+            0.05522024189884988
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            3.6064360512320883,
+            0.3540232570360864,
+            0.0012674950152321979
+        ],
+        [
+            3.4263286566850004,
+            2.508310142074958,
+            0.18379957462036278
+        ],
+        [
+            3.1962624139114935,
+            4.612700172392817,
+            0.18515349185530178
+        ],
+        [
+            2.778719047977801,
+            6.981995631350028,
+            0.3653291720246849
+        ],
+        [
+            2.251849643075187,
+            9.45674558175958,
+            0.4259016177691841
+        ],
+        [
+            1.6802335821934227,
+            11.781301669176333,
+            0.6652440406882117
+        ],
+        [
+            1.213180067502079,
+            13.93359799487084,
+            0.9374498033427944
+        ],
+        [
+            0.7329958034917601,
+            16.271334051244278,
+            1.6314517320385726
+        ],
+        [
+            0.30802584906443986,
+            18.397026536634794,
+            2.0471758098225616
+        ],
+        [
+            -0.15891628892804288,
+            20.48733930237815,
+            2.442694136309921
+        ],
+        [
+            -0.6253820116230253,
+            22.64408252118677,
+            2.7424130341402817
+        ],
+        [
+            -0.8793264235854386,
+            24.704422847997453,
+            3.4058843314032
+        ],
+        [
+            -1.1473262651136453,
+            26.972607845073863,
+            3.7807880725413003
+        ],
+        [
+            -1.4625148706491347,
+            28.98218725950103,
+            4.093589825827873
+        ],
+        [
+            -1.704930195969351,
+            31.136706908693274,
+            4.3431353372330515
+        ],
+        [
+            -1.6989235798487394,
+            33.193296070180196,
+            4.009749681470466
+        ],
+        [
+            -1.3125584398478525,
+            35.46803861143253,
+            4.870024040417076
+        ],
+        [
+            -0.927009071558671,
+            37.71894561112535,
+            4.4212046520617285
+        ],
+        [
+            0.0364651579632449,
+            39.99497070756102,
+            4.0446475840825
+        ],
+        [
+            1.7538573650291367,
+            42.12536151559087,
+            3.7919841628432653
+        ],
+        [
+            4.889906104932895,
+            44.17146957755904,
+            3.519833809014837
+        ],
+        [
+            10.430789278330199,
+            46.32439109304602,
+            3.9421401007994845
+        ],
+        [
+            15.692180992722857,
+            48.34872908291075,
+            3.7408400662948478
+        ],
+        [
+            20.555501781314586,
+            50.396416546959145,
+            3.2899635386015866
+        ],
+        [
+            25.728343715069567,
+            52.40179978869982,
+            3.314709220098317
+        ],
+        [
+            30.84211351225714,
+            54.49090970140132,
+            3.3329850494192033
+        ],
+        [
+            35.98332849682098,
+            56.54318140397989,
+            3.0281214694090437
+        ],
+        [
+            41.218113239788316,
+            58.59847203620879,
+            2.8365072769560618
+        ],
+        [
+            46.814325372935876,
+            60.617444500134766,
+            3.1480435723659452
+        ],
+        [
+            50.82226178189143,
+            62.67350817646199,
+            3.0086479746977832
+        ],
+        [
+            52.76312943355366,
+            64.88416766449828,
+            3.097349377055662
+        ],
+        [
+            53.74588179305061,
+            66.90564379822327,
+            2.958683510175952
+        ],
+        [
+            54.00080126912413,
+            69.08772045913878,
+            3.2774139960447664
+        ],
+        [
+            53.90668364803627,
+            71.1100334944918,
+            3.3359350575525943
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -1.4017669174713996,
+            -27.46665588948533,
+            0.0680540426441414
+        ],
+        [
+            -0.2648030668154542,
+            -25.41992855955281,
+            0.0788613167182749
+        ],
+        [
+            0.3542344474457897,
+            -23.344099069311575,
+            0.060186855037366586
+        ],
+        [
+            0.9063884094189332,
+            -21.262115127877507,
+            0.17118788083901784
+        ],
+        [
+            1.3940471469354412,
+            -19.19182856424508,
+            0.2219839732559855
+        ],
+        [
+            1.8318610316387618,
+            -17.089853717053774,
+            0.1758115567273996
+        ],
+        [
+            2.2189145146530675,
+            -14.856642087670558,
+            0.26576607345701453
+        ],
+        [
+            2.6087091980935844,
+            -12.638582587946658,
+            0.19293290019745762
+        ],
+        [
+            2.9825848341017798,
+            -10.464497510210194,
+            0.027798345660491247
+        ],
+        [
+            3.2642342446528696,
+            -8.20895205982935,
+            -0.00143221908746137
+        ],
+        [
+            3.502131140259249,
+            -5.934850065297905,
+            -0.02857609933605311
+        ],
+        [
+            3.6522359223134844,
+            -3.910928732019432,
+            -0.051805407951415514
+        ],
+        [
+            3.6877448980298952,
+            -1.74148380944046,
+            0.05522024189884988
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354870380.json

@@ -0,0 +1,490 @@
+{
+    "timestamp": {
+        "sec": 1754654298,
+        "nsec": 720526000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.1637123144322583,
+            2.155247374969626,
+            0.18658951603921076
+        ],
+        [
+            -0.37825575117499355,
+            4.261269905701209,
+            0.19205967678640418
+        ],
+        [
+            -0.7778183707749431,
+            6.63327274063953,
+            0.37731348662030517
+        ],
+        [
+            -1.2862603559679524,
+            9.111732148797461,
+            0.4434453084948369
+        ],
+        [
+            -1.8400554151589752,
+            11.440033066357376,
+            0.6882239630344362
+        ],
+        [
+            -2.290469151057975,
+            13.595253989991061,
+            0.9652883477017724
+        ],
+        [
+            -2.751468247914824,
+            15.935301694511107,
+            1.6644893538313752
+        ],
+        [
+            -3.1595949897287507,
+            18.06336985439049,
+            2.084909361662758
+        ],
+        [
+            -3.610009836265407,
+            20.15640223729144,
+            2.485183112485026
+        ],
+        [
+            -4.059726175921432,
+            22.31601965100172,
+            2.789766172238321
+        ],
+        [
+            -4.296622459968381,
+            24.377063916920893,
+            3.457344537276822
+        ],
+        [
+            -4.546847635342843,
+            26.646532363661375,
+            3.8367391102468926
+        ],
+        [
+            -4.846339791240119,
+            28.657853932352783,
+            4.153737868416007
+        ],
+        [
+            -5.072169217876123,
+            30.813681148927554,
+            4.4075156320375175
+        ],
+        [
+            -5.051934399962404,
+            32.87072413710864,
+            4.077506918561588
+        ],
+        [
+            -4.646410957380098,
+            35.14111897111199,
+            4.940444725300297
+        ],
+        [
+            -4.245535227457745,
+            37.38987110338023,
+            4.494258691457591
+        ],
+        [
+            -3.2663656138105637,
+            39.65936262563487,
+            4.118754824463745
+        ],
+        [
+            -1.5340289124977193,
+            41.77746333842201,
+            3.8647888502934573
+        ],
+        [
+            1.6162445552182163,
+            43.80086564367949,
+            3.5872174089027893
+        ],
+        [
+            7.174004687897368,
+            45.91220329159789,
+            3.9975290480864256
+        ],
+        [
+            12.607327493025332,
+            47.973832549889465,
+            3.5162964989352243
+        ],
+        [
+            17.805796569875383,
+            50.084412355263225,
+            3.2845193324946798
+        ],
+        [
+            23.37682685541754,
+            52.177633958007405,
+            3.1832518959801033
+        ],
+        [
+            28.542567733270744,
+            54.238362185498815,
+            3.191903442579541
+        ],
+        [
+            33.63053059430702,
+            56.261204622031585,
+            3.2559770009925595
+        ],
+        [
+            39.067264016628165,
+            58.2882662388852,
+            3.082783289738103
+        ],
+        [
+            44.714221286643856,
+            60.36457493660548,
+            2.739557228551024
+        ],
+        [
+            48.472704768111285,
+            62.679797351579865,
+            3.06257127615357
+        ],
+        [
+            49.91301006031529,
+            64.68556109817389,
+            3.0021971234283837
+        ],
+        [
+            50.82714353631091,
+            67.18257576969785,
+            3.169145320041029
+        ],
+        [
+            50.908253482545035,
+            69.27212250735427,
+            3.235157496966125
+        ],
+        [
+            50.74150425699166,
+            71.41404978784819,
+            3.351517745630539
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -5.212932590993637,
+            -27.7831038211908,
+            0.03494932125181842
+        ],
+        [
+            -4.060887045575335,
+            -25.744828432308758,
+            0.04594287952946301
+        ],
+        [
+            -3.4266195695796,
+            -23.673587147857106,
+            0.028955748692411215
+        ],
+        [
+            -2.8588260214845747,
+            -21.595915441038862,
+            0.14184119181783458
+        ],
+        [
+            -2.3557800688378094,
+            -19.5293651302561,
+            0.19468364981684716
+        ],
+        [
+            -1.902614670679899,
+            -17.430598320431045,
+            0.15075020240887207
+        ],
+        [
+            -1.4988605252919136,
+            -15.200451871351328,
+            0.2433018158208345
+        ],
+        [
+            -1.0929316164038294,
+            -12.985205461922543,
+            0.17303392042897023
+        ],
+        [
+            -0.7035032002801334,
+            -10.813660810719746,
+            0.010437259679341074
+        ],
+        [
+            -0.40531810690532843,
+            -8.560205677298043,
+            -0.01586306080244436
+        ],
+        [
+            -0.1507415571307007,
+            -6.287875708590313,
+            -0.03992336677614891
+        ],
+        [
+            0.014212408600627668,
+            -4.265079075986694,
+            -0.06023548116580105
+        ],
+        [
+            0.06601061075710568,
+            -2.096136351665532,
+            0.05026815702610264
+        ],
+        [
+            0.0,
+            -3.552713678800501e-15,
+            -1.3877787807814457e-17
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.10191543588670715,
+            2.155247374969626,
+            0.18658951603921076
+        ],
+        [
+            -0.11262800085602809,
+            4.261269905701209,
+            0.19205967678640418
+        ],
+        [
+            -0.5121906204559776,
+            6.63327274063953,
+            0.37731348662030517
+        ],
+        [
+            -1.020632605648987,
+            9.111732148797461,
+            0.4434453084948369
+        ],
+        [
+            -1.5744276648400097,
+            11.440033066357376,
+            0.6882239630344362
+        ],
+        [
+            -2.0248414007390094,
+            13.595253989991061,
+            0.9652883477017724
+        ],
+        [
+            -2.4858404975958583,
+            15.935301694511107,
+            1.6644893538313752
+        ],
+        [
+            -2.8939672394097853,
+            18.06336985439049,
+            2.084909361662758
+        ],
+        [
+            -3.3443820859464415,
+            20.15640223729144,
+            2.485183112485026
+        ],
+        [
+            -3.794098425602466,
+            22.31601965100172,
+            2.789766172238321
+        ],
+        [
+            -4.030994709649415,
+            24.377063916920893,
+            3.457344537276822
+        ],
+        [
+            -4.281219885023877,
+            26.646532363661375,
+            3.8367391102468926
+        ],
+        [
+            -4.580712040921154,
+            28.657853932352783,
+            4.153737868416007
+        ],
+        [
+            -4.806541467557158,
+            30.813681148927554,
+            4.4075156320375175
+        ],
+        [
+            -4.786306649643438,
+            32.87072413710864,
+            4.077506918561588
+        ],
+        [
+            -4.380783207061133,
+            35.14111897111199,
+            4.940444725300297
+        ],
+        [
+            -3.97990747713878,
+            37.38987110338023,
+            4.494258691457591
+        ],
+        [
+            -3.000737863491598,
+            39.65936262563487,
+            4.118754824463745
+        ],
+        [
+            -1.2684011621787539,
+            41.77746333842201,
+            3.8647888502934573
+        ],
+        [
+            1.8818723055371818,
+            43.80086564367949,
+            3.5872174089027893
+        ],
+        [
+            7.439632438216333,
+            45.91220329159789,
+            3.9975290480864256
+        ],
+        [
+            12.872955243344297,
+            47.973832549889465,
+            3.5162964989352243
+        ],
+        [
+            18.07142432019435,
+            50.084412355263225,
+            3.2845193324946798
+        ],
+        [
+            23.642454605736507,
+            52.177633958007405,
+            3.1832518959801033
+        ],
+        [
+            28.80819548358971,
+            54.238362185498815,
+            3.191903442579541
+        ],
+        [
+            33.89615834462598,
+            56.261204622031585,
+            3.2559770009925595
+        ],
+        [
+            39.33289176694713,
+            58.2882662388852,
+            3.082783289738103
+        ],
+        [
+            44.97984903696282,
+            60.36457493660548,
+            2.739557228551024
+        ],
+        [
+            48.73833251843025,
+            62.679797351579865,
+            3.06257127615357
+        ],
+        [
+            50.17863781063425,
+            64.68556109817389,
+            3.0021971234283837
+        ],
+        [
+            51.092771286629876,
+            67.18257576969785,
+            3.169145320041029
+        ],
+        [
+            51.173881232864,
+            69.27212250735427,
+            3.235157496966125
+        ],
+        [
+            51.007132007310624,
+            71.41404978784819,
+            3.351517745630539
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -4.947304840674671,
+            -27.7831038211908,
+            0.03494932125181842
+        ],
+        [
+            -3.7952592952563693,
+            -25.744828432308758,
+            0.04594287952946301
+        ],
+        [
+            -3.1609918192606345,
+            -23.673587147857106,
+            0.028955748692411215
+        ],
+        [
+            -2.593198271165609,
+            -21.595915441038862,
+            0.14184119181783458
+        ],
+        [
+            -2.090152318518844,
+            -19.5293651302561,
+            0.19468364981684716
+        ],
+        [
+            -1.6369869203609335,
+            -17.430598320431045,
+            0.15075020240887207
+        ],
+        [
+            -1.2332327749729481,
+            -15.200451871351328,
+            0.2433018158208345
+        ],
+        [
+            -0.827303866084864,
+            -12.985205461922543,
+            0.17303392042897023
+        ],
+        [
+            -0.4378754499611679,
+            -10.813660810719746,
+            0.010437259679341074
+        ],
+        [
+            -0.13969035658636297,
+            -8.560205677298043,
+            -0.01586306080244436
+        ],
+        [
+            0.11488619318826476,
+            -6.287875708590313,
+            -0.03992336677614891
+        ],
+        [
+            0.27984015891959313,
+            -4.265079075986694,
+            -0.06023548116580105
+        ],
+        [
+            0.33163836107607114,
+            -2.096136351665532,
+            0.05026815702610264
+        ],
+        [
+            0.26562775031896546,
+            -3.552713678800501e-15,
+            -1.3877787807814457e-17
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354870482.json

@@ -0,0 +1,490 @@
+{
+    "timestamp": {
+        "sec": 1754654318,
+        "nsec": 353348000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.15911245779930816,
+            1.9586203966490459,
+            0.11502855299604485
+        ],
+        [
+            -0.3648226837795079,
+            4.065530982424782,
+            0.1141367400448829
+        ],
+        [
+            -0.7540600986251782,
+            6.43977379525159,
+            0.292552015790882
+        ],
+        [
+            -1.2519790866988494,
+            8.92054435079016,
+            0.35172836365499266
+        ],
+        [
+            -1.7955057328569595,
+            11.251924675169363,
+            0.5901298905515289
+        ],
+        [
+            -2.2363094540360766,
+            13.409897884175784,
+            0.8611615215675203
+        ],
+        [
+            -2.686041284572239,
+            15.75410058478974,
+            1.5537511928317178
+        ],
+        [
+            -3.0843722746917486,
+            17.885206193953522,
+            1.9681372668762886
+        ],
+        [
+            -3.525179773073816,
+            19.98138894335193,
+            2.362578385352377
+        ],
+        [
+            -3.9652101237541792,
+            22.14384437129695,
+            2.661112826705824
+        ],
+        [
+            -4.192076139434816,
+            24.208005604739448,
+            3.3225161848945697
+        ],
+        [
+            -4.432000977109755,
+            26.479714953742906,
+            3.6950918376926887
+        ],
+        [
+            -4.7224038359716545,
+            28.493286531022,
+            4.006209017460376
+        ],
+        [
+            -4.938671886610702,
+            30.650848946044228,
+            4.253485434702885
+        ],
+        [
+            -4.910513383832722,
+            32.70671438304667,
+            3.916787561660861
+        ],
+        [
+            -4.493681308614766,
+            34.97815846745831,
+            4.771536890711729
+        ],
+        [
+            -4.08432629143579,
+            37.223759252818034,
+            4.317251668940044
+        ],
+        [
+            -3.096449005046134,
+            39.48790138406786,
+            3.9323790503532905
+        ],
+        [
+            -1.3557926001731921,
+            41.59788752486869,
+            3.6679673296139614
+        ],
+        [
+            1.8023390812636695,
+            43.60715302694168,
+            3.377309213821304
+        ],
+        [
+            7.3697383882713705,
+            45.696472192465485,
+            3.7692408125346173
+        ],
+        [
+            12.81062840466558,
+            47.73373142106123,
+            3.2700541393016564
+        ],
+        [
+            18.017394131955747,
+            49.82172979469154,
+            3.020650920528121
+        ],
+        [
+            23.596917328587658,
+            51.89122826286776,
+            2.901038200536755
+        ],
+        [
+            28.771249442214675,
+            53.93028813447196,
+            2.8922910945158087
+        ],
+        [
+            33.867761682500706,
+            55.93196765202807,
+            2.939249723338199
+        ],
+        [
+            39.31256195447665,
+            57.935638482583634,
+            2.748204266458033
+        ],
+        [
+            44.967434285824424,
+            59.987125777074844,
+            2.3865315644352267
+        ],
+        [
+            48.7362478351769,
+            62.28759238896624,
+            2.694246991416341
+        ],
+        [
+            50.22879519725692,
+            64.43889502633334,
+            2.7399469381806205
+        ],
+        [
+            51.10974010504268,
+            66.78077581356641,
+            2.7813709289224358
+        ],
+        [
+            51.199737684126326,
+            68.87016591253595,
+            2.8404594203419187
+        ],
+        [
+            51.042203492903575,
+            71.01313776647123,
+            2.950241470117113
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -5.333967847824955,
+            -27.958622053491773,
+            0.07066227787297703
+        ],
+        [
+            -4.1733762154568215,
+            -25.925171935945272,
+            0.07267232543414368
+        ],
+        [
+            -3.5304774648200272,
+            -23.856674798068386,
+            0.047671542210907414
+        ],
+        [
+            -2.953753284032329,
+            -21.781049819341618,
+            0.15265975498389273
+        ],
+        [
+            -2.4419481758691433,
+            -19.71646806933476,
+            0.19777595644931167
+        ],
+        [
+            -1.9800906230343962,
+            -17.61977303912854,
+            0.1461165031995587
+        ],
+        [
+            -1.5668080668122926,
+            -15.39105295052986,
+            0.2306191114741063
+        ],
+        [
+            -1.1517537958386672,
+            -13.17776671767411,
+            0.15234705848730923
+        ],
+        [
+            -0.7535760043442448,
+            -11.008410073506216,
+            -0.018077512230172066
+        ],
+        [
+            -0.4460123784968282,
+            -8.756321981874088,
+            -0.0522818788714251
+        ],
+        [
+            -0.18197308981884674,
+            -6.4851691840562005,
+            -0.08421662021060947
+        ],
+        [
+            -0.008592535550151936,
+            -4.463158230098035,
+            -0.11141028029320935
+        ],
+        [
+            0.0525191868731234,
+            -2.2941068760332293,
+            -0.008026384070971171
+        ],
+        [
+            -0.004817848839081762,
+            -0.19788503454400796,
+            -0.06493287505633913
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.020337986436238,
+            1.9586203966490459,
+            0.11502855299604485
+        ],
+        [
+            0.8146277604560384,
+            4.065530982424782,
+            0.1141367400448829
+        ],
+        [
+            0.42539034561036804,
+            6.43977379525159,
+            0.292552015790882
+        ],
+        [
+            -0.07252864246330315,
+            8.92054435079016,
+            0.35172836365499266
+        ],
+        [
+            -0.6160552886214132,
+            11.251924675169363,
+            0.5901298905515289
+        ],
+        [
+            -1.0568590098005304,
+            13.409897884175784,
+            0.8611615215675203
+        ],
+        [
+            -1.5065908403366928,
+            15.75410058478974,
+            1.5537511928317178
+        ],
+        [
+            -1.9049218304562023,
+            17.885206193953522,
+            1.9681372668762886
+        ],
+        [
+            -2.34572932883827,
+            19.98138894335193,
+            2.362578385352377
+        ],
+        [
+            -2.785759679518633,
+            22.14384437129695,
+            2.661112826705824
+        ],
+        [
+            -3.0126256951992696,
+            24.208005604739448,
+            3.3225161848945697
+        ],
+        [
+            -3.252550532874209,
+            26.479714953742906,
+            3.6950918376926887
+        ],
+        [
+            -3.5429533917361082,
+            28.493286531022,
+            4.006209017460376
+        ],
+        [
+            -3.759221442375156,
+            30.650848946044228,
+            4.253485434702885
+        ],
+        [
+            -3.7310629395971757,
+            32.70671438304667,
+            3.916787561660861
+        ],
+        [
+            -3.31423086437922,
+            34.97815846745831,
+            4.771536890711729
+        ],
+        [
+            -2.904875847200244,
+            37.223759252818034,
+            4.317251668940044
+        ],
+        [
+            -1.9169985608105877,
+            39.48790138406786,
+            3.9323790503532905
+        ],
+        [
+            -0.1763421559376459,
+            41.59788752486869,
+            3.6679673296139614
+        ],
+        [
+            2.9817895254992157,
+            43.60715302694168,
+            3.377309213821304
+        ],
+        [
+            8.549188832506918,
+            45.696472192465485,
+            3.7692408125346173
+        ],
+        [
+            13.990078848901128,
+            47.73373142106123,
+            3.2700541393016564
+        ],
+        [
+            19.196844576191292,
+            49.82172979469154,
+            3.020650920528121
+        ],
+        [
+            24.776367772823203,
+            51.89122826286776,
+            2.901038200536755
+        ],
+        [
+            29.95069988645022,
+            53.93028813447196,
+            2.8922910945158087
+        ],
+        [
+            35.047212126736255,
+            55.93196765202807,
+            2.939249723338199
+        ],
+        [
+            40.4920123987122,
+            57.935638482583634,
+            2.748204266458033
+        ],
+        [
+            46.14688473005997,
+            59.987125777074844,
+            2.3865315644352267
+        ],
+        [
+            49.915698279412446,
+            62.28759238896624,
+            2.694246991416341
+        ],
+        [
+            51.40824564149247,
+            64.43889502633334,
+            2.7399469381806205
+        ],
+        [
+            52.28919054927823,
+            66.78077581356641,
+            2.7813709289224358
+        ],
+        [
+            52.379188128361875,
+            68.87016591253595,
+            2.8404594203419187
+        ],
+        [
+            52.22165393713912,
+            71.01313776647123,
+            2.950241470117113
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -4.154517403589408,
+            -27.958622053491773,
+            0.07066227787297703
+        ],
+        [
+            -2.9939257712212752,
+            -25.925171935945272,
+            0.07267232543414368
+        ],
+        [
+            -2.351027020584481,
+            -23.856674798068386,
+            0.047671542210907414
+        ],
+        [
+            -1.7743028397967828,
+            -21.781049819341618,
+            0.15265975498389273
+        ],
+        [
+            -1.262497731633597,
+            -19.71646806933476,
+            0.19777595644931167
+        ],
+        [
+            -0.80064017879885,
+            -17.61977303912854,
+            0.1461165031995587
+        ],
+        [
+            -0.38735762257674633,
+            -15.39105295052986,
+            0.2306191114741063
+        ],
+        [
+            0.02769664839687902,
+            -13.17776671767411,
+            0.15234705848730923
+        ],
+        [
+            0.42587443989130147,
+            -11.008410073506216,
+            -0.018077512230172066
+        ],
+        [
+            0.7334380657387181,
+            -8.756321981874088,
+            -0.0522818788714251
+        ],
+        [
+            0.9974773544166995,
+            -6.4851691840562005,
+            -0.08421662021060947
+        ],
+        [
+            1.1708579086853943,
+            -4.463158230098035,
+            -0.11141028029320935
+        ],
+        [
+            1.2319696311086696,
+            -2.2941068760332293,
+            -0.008026384070971171
+        ],
+        [
+            1.1746325953964645,
+            -0.19788503454400796,
+            -0.06493287505633913
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354870574.json

@@ -0,0 +1,490 @@
+{
+    "timestamp": {
+        "sec": 1754654329,
+        "nsec": 524193000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.030369175126484294,
+            0.6973586862460124,
+            -0.008459152993765706
+        ],
+        [
+            -0.22722166120212783,
+            2.785907913461596,
+            0.04868051669391671
+        ],
+        [
+            -0.4806352640614353,
+            4.92912343399151,
+            0.19106885266123258
+        ],
+        [
+            -0.8455117308604763,
+            6.935856718122519,
+            0.19623836260272962
+        ],
+        [
+            -1.326857156461914,
+            9.087687281408211,
+            0.41202257571424006
+        ],
+        [
+            -1.800545303411928,
+            11.196669315214027,
+            0.5882802864372618
+        ],
+        [
+            -2.232648689962799,
+            13.337720046320836,
+            0.8802127101012026
+        ],
+        [
+            -2.621663339407128,
+            15.532030519985963,
+            1.5210112476988193
+        ],
+        [
+            -3.010373614381642,
+            17.666124510034603,
+            1.9291064292784181
+        ],
+        [
+            -3.4417207866032467,
+            19.76542612871341,
+            2.3173711537628168
+        ],
+        [
+            -3.8720184099182173,
+            21.930708921732137,
+            2.6095310101248494
+        ],
+        [
+            -4.089503816447131,
+            23.997833196325093,
+            3.264803106491346
+        ],
+        [
+            -4.319191979683614,
+            26.27169635945482,
+            3.6306303528409316
+        ],
+        [
+            -4.600525279870459,
+            28.287466934973,
+            3.935784048360252
+        ],
+        [
+            -4.80709724347048,
+            30.44670411467015,
+            4.176648941268964
+        ],
+        [
+            -4.769842218060104,
+            32.501406264044974,
+            3.8337900862175367
+        ],
+        [
+            -4.342663104771482,
+            34.77351461177631,
+            4.681637527914173
+        ],
+        [
+            -3.923397026659753,
+            37.01589510989473,
+            4.220535437893988
+        ],
+        [
+            -2.9255146741670384,
+            39.27444098720423,
+            3.828656136737581
+        ],
+        [
+            -1.1755195157533151,
+            41.37583203727023,
+            3.557524448268497
+        ],
+        [
+            2.3656312531036168,
+            43.41382267598058,
+            3.3109546989685166
+        ],
+        [
+            7.568248912276781,
+            45.43569556238819,
+            3.644504103991686
+        ],
+        [
+            13.018058456902546,
+            47.447134102486146,
+            3.137959341463692
+        ],
+        [
+            18.234033786987354,
+            49.51110424162792,
+            2.8810991978470617
+        ],
+        [
+            23.82271205270544,
+            51.555298643078245,
+            2.7539980346329127
+        ],
+        [
+            29.00609453828386,
+            53.57119617654742,
+            2.7379469688182394
+        ],
+        [
+            34.40426415363706,
+            55.65146832326177,
+            2.5403013277634283
+        ],
+        [
+            40.05308203253435,
+            57.71521805120152,
+            2.3796308899287455
+        ],
+        [
+            45.65177905921415,
+            59.76245221690088,
+            2.452771436405915
+        ],
+        [
+            49.00815953718372,
+            61.83863042102239,
+            2.5102553066689475
+        ],
+        [
+            50.51030857388945,
+            63.98337358821624,
+            2.549167631560612
+        ],
+        [
+            51.401711140445094,
+            66.321410546669,
+            2.5833750053407387
+        ],
+        [
+            51.501051261524985,
+            68.41054542417511,
+            2.6361860237206143
+        ],
+        [
+            51.35311374351303,
+            70.55451840966788,
+            2.739587256100914
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -5.385889076688915,
+            -27.990967628111772,
+            0.15569229012120792
+        ],
+        [
+            -4.145549610823199,
+            -25.70268969513227,
+            0.17142127661173723
+        ],
+        [
+            -3.4292304417070074,
+            -23.473476435643253,
+            0.32694760461132955
+        ],
+        [
+            -2.8634242355887505,
+            -21.323211622613197,
+            0.20423585612371797
+        ],
+        [
+            -2.3700743862993896,
+            -19.199031707892345,
+            0.20024082862890547
+        ],
+        [
+            -1.8660386330270367,
+            -16.713647135289346,
+            0.3866163816614029
+        ],
+        [
+            -1.4870838934478652,
+            -14.651992655703609,
+            0.22417473872290994
+        ],
+        [
+            -1.040153885185303,
+            -12.370501206352817,
+            0.11037519991176706
+        ],
+        [
+            -0.6791763775447244,
+            -10.307396869493456,
+            0.16572880680143787
+        ],
+        [
+            -0.37038621295318386,
+            -8.208752549592223,
+            0.05061215463145491
+        ],
+        [
+            -0.1029212896302436,
+            -5.687983808545098,
+            0.08036891304924879
+        ],
+        [
+            0.012437397967914876,
+            -3.390285327062255,
+            0.008314259569554894
+        ],
+        [
+            0.02237827204002052,
+            -1.381706027093493,
+            -0.009142754455524649
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.498332691211668,
+            0.6973586862460124,
+            -0.008459152993765706
+        ],
+        [
+            1.3014802051360244,
+            2.785907913461596,
+            0.04868051669391671
+        ],
+        [
+            1.0480666022767169,
+            4.92912343399151,
+            0.19106885266123258
+        ],
+        [
+            0.6831901354776759,
+            6.935856718122519,
+            0.19623836260272962
+        ],
+        [
+            0.20184470987623815,
+            9.087687281408211,
+            0.41202257571424006
+        ],
+        [
+            -0.2718434370737759,
+            11.196669315214027,
+            0.5882802864372618
+        ],
+        [
+            -0.7039468236246469,
+            13.337720046320836,
+            0.8802127101012026
+        ],
+        [
+            -1.0929614730689758,
+            15.532030519985963,
+            1.5210112476988193
+        ],
+        [
+            -1.4816717480434898,
+            17.666124510034603,
+            1.9291064292784181
+        ],
+        [
+            -1.9130189202650945,
+            19.76542612871341,
+            2.3173711537628168
+        ],
+        [
+            -2.343316543580065,
+            21.930708921732137,
+            2.6095310101248494
+        ],
+        [
+            -2.5608019501089787,
+            23.997833196325093,
+            3.264803106491346
+        ],
+        [
+            -2.790490113345462,
+            26.27169635945482,
+            3.6306303528409316
+        ],
+        [
+            -3.0718234135323064,
+            28.287466934973,
+            3.935784048360252
+        ],
+        [
+            -3.2783953771323278,
+            30.44670411467015,
+            4.176648941268964
+        ],
+        [
+            -3.2411403517219517,
+            32.501406264044974,
+            3.8337900862175367
+        ],
+        [
+            -2.81396123843333,
+            34.77351461177631,
+            4.681637527914173
+        ],
+        [
+            -2.394695160321601,
+            37.01589510989473,
+            4.220535437893988
+        ],
+        [
+            -1.3968128078288862,
+            39.27444098720423,
+            3.828656136737581
+        ],
+        [
+            0.35318235058483705,
+            41.37583203727023,
+            3.557524448268497
+        ],
+        [
+            3.894333119441769,
+            43.41382267598058,
+            3.3109546989685166
+        ],
+        [
+            9.096950778614932,
+            45.43569556238819,
+            3.644504103991686
+        ],
+        [
+            14.546760323240697,
+            47.447134102486146,
+            3.137959341463692
+        ],
+        [
+            19.762735653325507,
+            49.51110424162792,
+            2.8810991978470617
+        ],
+        [
+            25.351413919043594,
+            51.555298643078245,
+            2.7539980346329127
+        ],
+        [
+            30.534796404622014,
+            53.57119617654742,
+            2.7379469688182394
+        ],
+        [
+            35.93296601997521,
+            55.65146832326177,
+            2.5403013277634283
+        ],
+        [
+            41.5817838988725,
+            57.71521805120152,
+            2.3796308899287455
+        ],
+        [
+            47.1804809255523,
+            59.76245221690088,
+            2.452771436405915
+        ],
+        [
+            50.536861403521876,
+            61.83863042102239,
+            2.5102553066689475
+        ],
+        [
+            52.03901044022761,
+            63.98337358821624,
+            2.549167631560612
+        ],
+        [
+            52.93041300678325,
+            66.321410546669,
+            2.5833750053407387
+        ],
+        [
+            53.02975312786314,
+            68.41054542417511,
+            2.6361860237206143
+        ],
+        [
+            52.88181560985118,
+            70.55451840966788,
+            2.739587256100914
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -3.857187210350763,
+            -27.990967628111772,
+            0.15569229012120792
+        ],
+        [
+            -2.616847744485047,
+            -25.70268969513227,
+            0.17142127661173723
+        ],
+        [
+            -1.9005285753688552,
+            -23.473476435643253,
+            0.32694760461132955
+        ],
+        [
+            -1.3347223692505983,
+            -21.323211622613197,
+            0.20423585612371797
+        ],
+        [
+            -0.8413725199612374,
+            -19.199031707892345,
+            0.20024082862890547
+        ],
+        [
+            -0.33733676668888446,
+            -16.713647135289346,
+            0.3866163816614029
+        ],
+        [
+            0.041617972890287014,
+            -14.651992655703609,
+            0.22417473872290994
+        ],
+        [
+            0.48854798115284925,
+            -12.370501206352817,
+            0.11037519991176706
+        ],
+        [
+            0.8495254887934278,
+            -10.307396869493456,
+            0.16572880680143787
+        ],
+        [
+            1.1583156533849683,
+            -8.208752549592223,
+            0.05061215463145491
+        ],
+        [
+            1.4257805767079086,
+            -5.687983808545098,
+            0.08036891304924879
+        ],
+        [
+            1.541139264306067,
+            -3.390285327062255,
+            0.008314259569554894
+        ],
+        [
+            1.5510801383781727,
+            -1.381706027093493,
+            -0.009142754455524649
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354870680.json

@@ -0,0 +1,490 @@
+{
+    "timestamp": {
+        "sec": 1754654344,
+        "nsec": 174954000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.01659704212364055,
+            0.3670281706898031,
+            -0.05856092020143805
+        ],
+        [
+            -0.1990360816137695,
+            2.457070324265306,
+            -0.00862585460209686
+        ],
+        [
+            -0.4379634674895492,
+            4.602439040028866,
+            0.12617932881303262
+        ],
+        [
+            -0.7888038813921572,
+            6.611679017045827,
+            0.123780949041467
+        ],
+        [
+            -1.25586393710398,
+            8.767484647792745,
+            0.33111643868171003
+        ],
+        [
+            -1.7154223584565766,
+            10.880265851251732,
+            0.49908698294556064
+        ],
+        [
+            -2.133595649482169,
+            13.025186140681736,
+            0.7827842872900626
+        ],
+        [
+            -2.5095838285577887,
+            15.224154940752758,
+            1.4153368334201168
+        ],
+        [
+            -2.88483858696093,
+            17.362178913483685,
+            1.8153766711671606
+        ],
+        [
+            -3.302899924006873,
+            19.465647393086837,
+            2.195537478238783
+        ],
+        [
+            -3.7190987578197454,
+            21.634787129368807,
+            2.4793936658732685
+        ],
+        [
+            -3.9245060145035318,
+            23.70542029419352,
+            3.1274448556496934
+        ],
+        [
+            -4.139611003780505,
+            25.98196605830697,
+            3.4853682254179277
+        ],
+        [
+            -4.40794396629966,
+            28.000597822708517,
+            3.783229665995222
+        ],
+        [
+            -4.600278953288022,
+            30.161968525571847,
+            4.016632769128646
+        ],
+        [
+            -4.5473927668068495,
+            32.215277587059404,
+            3.6675396535512492
+        ],
+        [
+            -4.107424878530363,
+            34.486987119206745,
+            4.509898058203628
+        ],
+        [
+            -3.670793984477603,
+            36.72493008484196,
+            4.043385223502976
+        ],
+        [
+            -2.6557047100422366,
+            38.975211830699934,
+            3.6481715026028976
+        ],
+        [
+            -0.8900671735419152,
+            41.06346623086682,
+            3.3769567497855335
+        ],
+        [
+            2.6661366919681804,
+            43.07588445957576,
+            3.1370855505806188
+        ],
+        [
+            8.373132253393475,
+            45.22317212186684,
+            3.2242013010594244
+        ],
+        [
+            13.983823187459468,
+            47.25259593667512,
+            2.6789403112016372
+        ],
+        [
+            19.207365826658496,
+            49.339332602902104,
+            2.926244620908408
+        ],
+        [
+            24.69999236433013,
+            51.35532098439623,
+            2.9520556935713635
+        ],
+        [
+            30.164105508398464,
+            53.42630588413131,
+            2.6820325666450926
+        ],
+        [
+            35.52910279222206,
+            55.43937382878619,
+            2.819728750881768
+        ],
+        [
+            41.597604909065325,
+            57.49479376889835,
+            2.306910549363783
+        ],
+        [
+            47.322101481562456,
+            59.63408418060743,
+            2.3598610826679267
+        ],
+        [
+            50.020031283758094,
+            61.7486566575937,
+            2.2206589780332577
+        ],
+        [
+            51.45582632360408,
+            64.20018707801715,
+            2.4166525036253903
+        ],
+        [
+            51.97782566968123,
+            66.60260261258074,
+            2.574723055922883
+        ],
+        [
+            51.8970716681869,
+            68.68853965312209,
+            2.612434842757208
+        ],
+        [
+            51.76107973648947,
+            70.71426858336044,
+            2.740252211164574
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -5.573317362640683,
+            -28.282526028656786,
+            0.1749113257640167
+        ],
+        [
+            -4.31706015155493,
+            -26.002931950707293,
+            0.18810031866142554
+        ],
+        [
+            -3.585731172623152,
+            -23.778302250040547,
+            0.3393417366393924
+        ],
+        [
+            -3.004446084157106,
+            -21.63243750854489,
+            0.21203989302827614
+        ],
+        [
+            -2.496231518028914,
+            -19.511779273031433,
+            0.2032679453482806
+        ],
+        [
+            -1.975499339033556,
+            -17.029406074726374,
+            0.38378293966581106
+        ],
+        [
+            -1.5815348073631839,
+            -14.97096786502937,
+            0.21633963627286193
+        ],
+        [
+            -1.1182364296496061,
+            -12.693021886764342,
+            0.09710568936952663
+        ],
+        [
+            -0.7430344026115474,
+            -10.632326915325727,
+            0.14738452368508909
+        ],
+        [
+            -0.4191463551810468,
+            -8.536261672954254,
+            0.026892933676146147
+        ],
+        [
+            -0.1341576096689856,
+            -6.017342429646185,
+            0.049811405347573195
+        ],
+        [
+            -0.0024593638358307857,
+            -3.720742676347516,
+            -0.02894744744987998
+        ],
+        [
+            0.02160149369006703,
+            -1.7123462976700345,
+            -0.05259980101762679
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.5460210906454863,
+            0.3670281706898031,
+            -0.05856092020143805
+        ],
+        [
+            0.36358205115535736,
+            2.457070324265306,
+            -0.00862585460209686
+        ],
+        [
+            0.12465466527957769,
+            4.602439040028866,
+            0.12617932881303262
+        ],
+        [
+            -0.2261857486230303,
+            6.611679017045827,
+            0.123780949041467
+        ],
+        [
+            -0.693245804334853,
+            8.767484647792745,
+            0.33111643868171003
+        ],
+        [
+            -1.1528042256874498,
+            10.880265851251732,
+            0.49908698294556064
+        ],
+        [
+            -1.5709775167130422,
+            13.025186140681736,
+            0.7827842872900626
+        ],
+        [
+            -1.9469656957886619,
+            15.224154940752758,
+            1.4153368334201168
+        ],
+        [
+            -2.322220454191803,
+            17.362178913483685,
+            1.8153766711671606
+        ],
+        [
+            -2.740281791237746,
+            19.465647393086837,
+            2.195537478238783
+        ],
+        [
+            -3.1564806250506185,
+            21.634787129368807,
+            2.4793936658732685
+        ],
+        [
+            -3.361887881734405,
+            23.70542029419352,
+            3.1274448556496934
+        ],
+        [
+            -3.5769928710113783,
+            25.98196605830697,
+            3.4853682254179277
+        ],
+        [
+            -3.8453258335305334,
+            28.000597822708517,
+            3.783229665995222
+        ],
+        [
+            -4.037660820518895,
+            30.161968525571847,
+            4.016632769128646
+        ],
+        [
+            -3.9847746340377226,
+            32.215277587059404,
+            3.6675396535512492
+        ],
+        [
+            -3.544806745761236,
+            34.486987119206745,
+            4.509898058203628
+        ],
+        [
+            -3.1081758517084763,
+            36.72493008484196,
+            4.043385223502976
+        ],
+        [
+            -2.0930865772731098,
+            38.975211830699934,
+            3.6481715026028976
+        ],
+        [
+            -0.32744904077278836,
+            41.06346623086682,
+            3.3769567497855335
+        ],
+        [
+            3.2287548247373072,
+            43.07588445957576,
+            3.1370855505806188
+        ],
+        [
+            8.935750386162603,
+            45.22317212186684,
+            3.2242013010594244
+        ],
+        [
+            14.546441320228595,
+            47.25259593667512,
+            2.6789403112016372
+        ],
+        [
+            19.769983959427623,
+            49.339332602902104,
+            2.926244620908408
+        ],
+        [
+            25.262610497099256,
+            51.35532098439623,
+            2.9520556935713635
+        ],
+        [
+            30.72672364116759,
+            53.42630588413131,
+            2.6820325666450926
+        ],
+        [
+            36.091720924991186,
+            55.43937382878619,
+            2.819728750881768
+        ],
+        [
+            42.16022304183445,
+            57.49479376889835,
+            2.306910549363783
+        ],
+        [
+            47.88471961433158,
+            59.63408418060743,
+            2.3598610826679267
+        ],
+        [
+            50.58264941652722,
+            61.7486566575937,
+            2.2206589780332577
+        ],
+        [
+            52.0184444563732,
+            64.20018707801715,
+            2.4166525036253903
+        ],
+        [
+            52.540443802450355,
+            66.60260261258074,
+            2.574723055922883
+        ],
+        [
+            52.45968980095603,
+            68.68853965312209,
+            2.612434842757208
+        ],
+        [
+            52.323697869258595,
+            70.71426858336044,
+            2.740252211164574
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -5.010699229871556,
+            -28.282526028656786,
+            0.1749113257640167
+        ],
+        [
+            -3.754442018785803,
+            -26.002931950707293,
+            0.18810031866142554
+        ],
+        [
+            -3.0231130398540254,
+            -23.778302250040547,
+            0.3393417366393924
+        ],
+        [
+            -2.441827951387979,
+            -21.63243750854489,
+            0.21203989302827614
+        ],
+        [
+            -1.933613385259787,
+            -19.511779273031433,
+            0.2032679453482806
+        ],
+        [
+            -1.4128812062644291,
+            -17.029406074726374,
+            0.38378293966581106
+        ],
+        [
+            -1.018916674594057,
+            -14.97096786502937,
+            0.21633963627286193
+        ],
+        [
+            -0.5556182968804793,
+            -12.693021886764342,
+            0.09710568936952663
+        ],
+        [
+            -0.18041626984242054,
+            -10.632326915325727,
+            0.14738452368508909
+        ],
+        [
+            0.14347177758808005,
+            -8.536261672954254,
+            0.026892933676146147
+        ],
+        [
+            0.42846052310014127,
+            -6.017342429646185,
+            0.049811405347573195
+        ],
+        [
+            0.5601587689332961,
+            -3.720742676347516,
+            -0.02894744744987998
+        ],
+        [
+            0.5842196264591939,
+            -1.7123462976700345,
+            -0.05259980101762679
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354870806.json

@@ -0,0 +1,490 @@
+{
+    "timestamp": {
+        "sec": 1754654351,
+        "nsec": 205390000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            1.7763568394002505e-15,
+            0.0,
+            -5.551115123125783e-17
+        ],
+        [
+            -0.1668642945255847,
+            2.0914654564374295,
+            0.0445226837743215
+        ],
+        [
+            -0.38982909727737436,
+            4.238894472859993,
+            0.17375493955530022
+        ],
+        [
+            -0.7256763904620414,
+            6.250681729973987,
+            0.16609587497102368
+        ],
+        [
+            -1.1767121564523322,
+            8.410434211084077,
+            0.36775642292817373
+        ],
+        [
+            -1.620555126550208,
+            10.527006769829104,
+            0.5301648018013374
+        ],
+        [
+            -2.022810320567066,
+            12.67570547654002,
+            0.8082308667809978
+        ],
+        [
+            -2.382586638934388,
+            14.879030663229383,
+            1.4350264798387027
+        ],
+        [
+            -2.742011969324519,
+            17.020811473767107,
+            1.8294664688703302
+        ],
+        [
+            -3.144494201843278,
+            19.12830607877054,
+            2.2041019021092767
+        ],
+        [
+            -3.446974022989318,
+            21.13115115910885,
+            2.499258251300891
+        ],
+        [
+            -3.734756370990489,
+            23.37497057429641,
+            3.12494443961919
+        ],
+        [
+            -3.932990406119554,
+            25.65396683596669,
+            3.476966055078139
+        ],
+        [
+            -4.186355548485171,
+            27.67530003367622,
+            3.7695689007229323
+        ],
+        [
+            -4.362640476199269,
+            29.838635870685234,
+            3.9973730963412515
+        ],
+        [
+            -4.294336372648202,
+            31.89059199803592,
+            3.6430404067442512
+        ],
+        [
+            -3.8377019402895804,
+            34.16110963211918,
+            4.479723316545516
+        ],
+        [
+            -3.3842506462836965,
+            36.394531741915685,
+            4.0076247214888765
+        ],
+        [
+            -2.352287166021796,
+            38.63616199619659,
+            3.6069836920107545
+        ],
+        [
+            -0.5710429622637765,
+            40.7104916604128,
+            3.331003035093993
+        ],
+        [
+            3.3052397476788276,
+            42.75602879832891,
+            3.2826823087647266
+        ],
+        [
+            8.722964123213151,
+            44.80060998646252,
+            3.1706430527768896
+        ],
+        [
+            14.57376401472069,
+            46.858860042964196,
+            3.0859556974738376
+        ],
+        [
+            19.806807844926148,
+            48.912439130869174,
+            2.7646239991792174
+        ],
+        [
+            25.6903731675882,
+            50.926406600071275,
+            2.630953007493054
+        ],
+        [
+            31.029840988464663,
+            52.93449703536929,
+            2.493684961847889
+        ],
+        [
+            36.7036343416549,
+            55.00700563588623,
+            2.2113349188152323
+        ],
+        [
+            42.53212035853432,
+            57.01546553852879,
+            2.410338933244792
+        ],
+        [
+            48.09253899163861,
+            59.058620844089106,
+            2.2029029215655505
+        ],
+        [
+            50.643866324808386,
+            61.25325653168366,
+            2.3498072076951027
+        ],
+        [
+            51.94621733341367,
+            63.453739157302394,
+            2.328672675386448
+        ],
+        [
+            52.48606762170694,
+            65.85259314085707,
+            2.4807622849412008
+        ],
+        [
+            52.42085870934979,
+            67.93916411411374,
+            2.5131056928922666
+        ],
+        [
+            52.299936522882405,
+            69.96617166222842,
+            2.635690392851318
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -5.770273407278371,
+            -28.606634191458838,
+            0.3050096272163951
+        ],
+        [
+            -4.497056673371162,
+            -26.336443858083097,
+            0.3127742203803341
+        ],
+        [
+            -3.749206188952881,
+            -24.11694845584876,
+            0.4585588541452924
+        ],
+        [
+            -3.1518964479170535,
+            -21.97581079204882,
+            0.32595349914394284
+        ],
+        [
+            -2.6278798819764244,
+            -19.859030219590252,
+            0.3119181571891147
+        ],
+        [
+            -2.0887074473936664,
+            -17.380154080061665,
+            0.4862469607183392
+        ],
+        [
+            -1.679352535028766,
+            -15.325146452458545,
+            0.3136625424711348
+        ],
+        [
+            -1.1990438082592174,
+            -13.05103126466576,
+            0.18874801001319097
+        ],
+        [
+            -0.808501511089947,
+            -10.993068987986621,
+            0.23387305265443473
+        ],
+        [
+            -0.4689551000886123,
+            -8.899792658302346,
+            0.10812078361476252
+        ],
+        [
+            -0.16519818343140535,
+            -6.383017848670189,
+            0.12468245333524497
+        ],
+        [
+            -0.016353796043199864,
+            -4.087673298243306,
+            0.04008602983147147
+        ],
+        [
+            0.022690035910789774,
+            -2.0795793680036425,
+            0.011298548177482659
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.5363995307957303,
+            0.0,
+            -5.551115123125783e-17
+        ],
+        [
+            1.3695352362701438,
+            2.0914654564374295,
+            0.0445226837743215
+        ],
+        [
+            1.1465704335183542,
+            4.238894472859993,
+            0.17375493955530022
+        ],
+        [
+            0.8107231403336872,
+            6.250681729973987,
+            0.16609587497102368
+        ],
+        [
+            0.35968737434339637,
+            8.410434211084077,
+            0.36775642292817373
+        ],
+        [
+            -0.0841555957544795,
+            10.527006769829104,
+            0.5301648018013374
+        ],
+        [
+            -0.48641078977133745,
+            12.67570547654002,
+            0.8082308667809978
+        ],
+        [
+            -0.8461871081386594,
+            14.879030663229383,
+            1.4350264798387027
+        ],
+        [
+            -1.2056124385287905,
+            17.020811473767107,
+            1.8294664688703302
+        ],
+        [
+            -1.6080946710475494,
+            19.12830607877054,
+            2.2041019021092767
+        ],
+        [
+            -1.9105744921935894,
+            21.13115115910885,
+            2.499258251300891
+        ],
+        [
+            -2.1983568401947604,
+            23.37497057429641,
+            3.12494443961919
+        ],
+        [
+            -2.3965908753238256,
+            25.65396683596669,
+            3.476966055078139
+        ],
+        [
+            -2.6499560176894423,
+            27.67530003367622,
+            3.7695689007229323
+        ],
+        [
+            -2.8262409454035406,
+            29.838635870685234,
+            3.9973730963412515
+        ],
+        [
+            -2.757936841852473,
+            31.89059199803592,
+            3.6430404067442512
+        ],
+        [
+            -2.301302409493852,
+            34.16110963211918,
+            4.479723316545516
+        ],
+        [
+            -1.847851115487968,
+            36.394531741915685,
+            4.0076247214888765
+        ],
+        [
+            -0.8158876352260673,
+            38.63616199619659,
+            3.6069836920107545
+        ],
+        [
+            0.9653565685319521,
+            40.7104916604128,
+            3.331003035093993
+        ],
+        [
+            4.841639278474556,
+            42.75602879832891,
+            3.2826823087647266
+        ],
+        [
+            10.25936365400888,
+            44.80060998646252,
+            3.1706430527768896
+        ],
+        [
+            16.110163545516418,
+            46.858860042964196,
+            3.0859556974738376
+        ],
+        [
+            21.343207375721875,
+            48.912439130869174,
+            2.7646239991792174
+        ],
+        [
+            27.226772698383925,
+            50.926406600071275,
+            2.630953007493054
+        ],
+        [
+            32.56624051926039,
+            52.93449703536929,
+            2.493684961847889
+        ],
+        [
+            38.240033872450624,
+            55.00700563588623,
+            2.2113349188152323
+        ],
+        [
+            44.06851988933005,
+            57.01546553852879,
+            2.410338933244792
+        ],
+        [
+            49.62893852243434,
+            59.058620844089106,
+            2.2029029215655505
+        ],
+        [
+            52.18026585560411,
+            61.25325653168366,
+            2.3498072076951027
+        ],
+        [
+            53.4826168642094,
+            63.453739157302394,
+            2.328672675386448
+        ],
+        [
+            54.022467152502664,
+            65.85259314085707,
+            2.4807622849412008
+        ],
+        [
+            53.957258240145514,
+            67.93916411411374,
+            2.5131056928922666
+        ],
+        [
+            53.83633605367813,
+            69.96617166222842,
+            2.635690392851318
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -4.233873876482642,
+            -28.606634191458838,
+            0.3050096272163951
+        ],
+        [
+            -2.9606571425754336,
+            -26.336443858083097,
+            0.3127742203803341
+        ],
+        [
+            -2.2128066581571524,
+            -24.11694845584876,
+            0.4585588541452924
+        ],
+        [
+            -1.615496917121325,
+            -21.97581079204882,
+            0.32595349914394284
+        ],
+        [
+            -1.0914803511806959,
+            -19.859030219590252,
+            0.3119181571891147
+        ],
+        [
+            -0.5523079165979379,
+            -17.380154080061665,
+            0.4862469607183392
+        ],
+        [
+            -0.14295300423303736,
+            -15.325146452458545,
+            0.3136625424711348
+        ],
+        [
+            0.33735572253651114,
+            -13.05103126466576,
+            0.18874801001319097
+        ],
+        [
+            0.7278980197057816,
+            -10.993068987986621,
+            0.23387305265443473
+        ],
+        [
+            1.0674444307071163,
+            -8.899792658302346,
+            0.10812078361476252
+        ],
+        [
+            1.3712013473643232,
+            -6.383017848670189,
+            0.12468245333524497
+        ],
+        [
+            1.5200457347525287,
+            -4.087673298243306,
+            0.04008602983147147
+        ],
+        [
+            1.5590895667065183,
+            -2.0795793680036425,
+            0.011298548177482659
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354870989.json

@@ -0,0 +1,490 @@
+{
+    "timestamp": {
+        "sec": 1754654363,
+        "nsec": 76491000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.0923705946161153,
+            1.4868380102552017,
+            0.06803065658674956
+        ],
+        [
+            -0.2901277691198203,
+            3.637768909620103,
+            0.17872856019651429
+        ],
+        [
+            -0.6038388622567634,
+            5.653003619789619,
+            0.15518187323576615
+        ],
+        [
+            -1.0286604401225787,
+            7.8194989889495155,
+            0.340803695374996
+        ],
+        [
+            -1.4472222553359675,
+            9.942358634261122,
+            0.48751904296601833
+        ],
+        [
+            -1.822503769095416,
+            12.097998510662702,
+            0.7490847489097456
+        ],
+        [
+            -2.1506582300294443,
+            14.311165245490276,
+            1.3583148136043
+        ],
+        [
+            -2.4818396954985573,
+            16.460538670164485,
+            1.7358161138602954
+        ],
+        [
+            -2.856680658163592,
+            18.575917308148345,
+            2.094347334425481
+        ],
+        [
+            -3.133609245726639,
+            20.584773690933535,
+            2.3732851755971405
+        ],
+        [
+            -3.3893453680187147,
+            22.83761755729994,
+            2.9801797328114055
+        ],
+        [
+            -3.5583360576809504,
+            25.121984915297087,
+            3.3120650016402284
+        ],
+        [
+            -3.7859820804772895,
+            27.148755572300335,
+            3.5877028238338085
+        ],
+        [
+            -3.935744834113944,
+            29.31602684694828,
+            3.7962679471815735
+        ],
+        [
+            -3.848940895872474,
+            31.363564681520014,
+            3.4210414204619872
+        ],
+        [
+            -3.357610131290908,
+            33.63685663774328,
+            4.230078740119369
+        ],
+        [
+            -2.8850756793236094,
+            35.86040931248081,
+            3.730885216133552
+        ],
+        [
+            -1.8331826000365652,
+            38.086417749920386,
+            3.2964022565150124
+        ],
+        [
+            -0.03250135717317448,
+            40.13800575921768,
+            2.9795844950675403
+        ],
+        [
+            3.8652769828770577,
+            42.139674237450734,
+            2.866571054847161
+        ],
+        [
+            9.59115429246076,
+            44.204255432430884,
+            2.231951379681149
+        ],
+        [
+            15.656773887731022,
+            46.29124818802639,
+            2.6439004823908476
+        ],
+        [
+            21.18574297013543,
+            48.31695256278263,
+            1.9972142489588105
+        ],
+        [
+            26.897228988428765,
+            50.32117632128701,
+            1.9267693022254637
+        ],
+        [
+            32.72433925542643,
+            52.40565719560436,
+            1.6852676046813126
+        ],
+        [
+            38.869743990588276,
+            54.528113461473,
+            1.3460577611635243
+        ],
+        [
+            45.32216319028632,
+            56.54187432938048,
+            1.0243637610056515
+        ],
+        [
+            49.830113609253075,
+            58.60519792576983,
+            1.1821694092739166
+        ],
+        [
+            51.86181416603185,
+            60.73443236136792,
+            1.2022720942196148
+        ],
+        [
+            52.867599603621315,
+            62.7482110891131,
+            1.1163414528620654
+        ],
+        [
+            53.2746613554645,
+            64.88553663494045,
+            1.281689133614047
+        ],
+        [
+            53.26510421648791,
+            66.91077732616905,
+            1.3001731235651612
+        ],
+        [
+            53.172735472177266,
+            68.91520740242555,
+            1.37245393062918
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -5.813991727700596,
+            -28.96428122392744,
+            0.8231054937269878
+        ],
+        [
+            -4.732339111143309,
+            -26.88713960147474,
+            0.6652237359101176
+        ],
+        [
+            -3.958418628071982,
+            -24.67480355363608,
+            0.7805911678061186
+        ],
+        [
+            -3.3391177072860287,
+            -22.54183769551228,
+            0.6201024770959547
+        ],
+        [
+            -2.791991654035595,
+            -20.43126082143477,
+            0.5792529409197705
+        ],
+        [
+            -2.223530896026446,
+            -17.956971251817762,
+            0.7230161259364979
+        ],
+        [
+            -1.7935748195918162,
+            -15.908419869222802,
+            0.5255618770300405
+        ],
+        [
+            -1.2897043388487575,
+            -13.641113191144122,
+            0.37280400667443336
+        ],
+        [
+            -0.8759966805453079,
+            -11.58728813180635,
+            0.39322180977062915
+        ],
+        [
+            -0.5148741322998962,
+            -9.49924078510562,
+            0.24302202983145638
+        ],
+        [
+            -0.18321365577773996,
+            -6.985963316379749,
+            0.23137345790310215
+        ],
+        [
+            -0.010062529622368643,
+            -4.693346731731914,
+            0.12253552788859678
+        ],
+        [
+            0.05078323366253379,
+            -2.6861855641148864,
+            0.07358440042944026
+        ],
+        [
+            0.05089442612025685,
+            -0.6066896215227722,
+            0.04212879478991327
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.6655675246479404,
+            1.4868380102552017,
+            0.06803065658674956
+        ],
+        [
+            0.46781035014423544,
+            3.637768909620103,
+            0.17872856019651429
+        ],
+        [
+            0.15409925700729232,
+            5.653003619789619,
+            0.15518187323576615
+        ],
+        [
+            -0.270722320858523,
+            7.8194989889495155,
+            0.340803695374996
+        ],
+        [
+            -0.6892841360719117,
+            9.942358634261122,
+            0.48751904296601833
+        ],
+        [
+            -1.0645656498313603,
+            12.097998510662702,
+            0.7490847489097456
+        ],
+        [
+            -1.3927201107653886,
+            14.311165245490276,
+            1.3583148136043
+        ],
+        [
+            -1.7239015762345016,
+            16.460538670164485,
+            1.7358161138602954
+        ],
+        [
+            -2.098742538899536,
+            18.575917308148345,
+            2.094347334425481
+        ],
+        [
+            -2.375671126462583,
+            20.584773690933535,
+            2.3732851755971405
+        ],
+        [
+            -2.631407248754659,
+            22.83761755729994,
+            2.9801797328114055
+        ],
+        [
+            -2.8003979384168947,
+            25.121984915297087,
+            3.3120650016402284
+        ],
+        [
+            -3.0280439612132337,
+            27.148755572300335,
+            3.5877028238338085
+        ],
+        [
+            -3.177806714849888,
+            29.31602684694828,
+            3.7962679471815735
+        ],
+        [
+            -3.091002776608418,
+            31.363564681520014,
+            3.4210414204619872
+        ],
+        [
+            -2.5996720120268524,
+            33.63685663774328,
+            4.230078740119369
+        ],
+        [
+            -2.1271375600595537,
+            35.86040931248081,
+            3.730885216133552
+        ],
+        [
+            -1.0752444807725094,
+            38.086417749920386,
+            3.2964022565150124
+        ],
+        [
+            0.7254367620908813,
+            40.13800575921768,
+            2.9795844950675403
+        ],
+        [
+            4.623215102141113,
+            42.139674237450734,
+            2.866571054847161
+        ],
+        [
+            10.349092411724815,
+            44.204255432430884,
+            2.231951379681149
+        ],
+        [
+            16.414712006995078,
+            46.29124818802639,
+            2.6439004823908476
+        ],
+        [
+            21.943681089399483,
+            48.31695256278263,
+            1.9972142489588105
+        ],
+        [
+            27.65516710769282,
+            50.32117632128701,
+            1.9267693022254637
+        ],
+        [
+            33.48227737469048,
+            52.40565719560436,
+            1.6852676046813126
+        ],
+        [
+            39.62768210985233,
+            54.528113461473,
+            1.3460577611635243
+        ],
+        [
+            46.08010130955037,
+            56.54187432938048,
+            1.0243637610056515
+        ],
+        [
+            50.58805172851713,
+            58.60519792576983,
+            1.1821694092739166
+        ],
+        [
+            52.6197522852959,
+            60.73443236136792,
+            1.2022720942196148
+        ],
+        [
+            53.62553772288537,
+            62.7482110891131,
+            1.1163414528620654
+        ],
+        [
+            54.032599474728556,
+            64.88553663494045,
+            1.281689133614047
+        ],
+        [
+            54.02304233575197,
+            66.91077732616905,
+            1.3001731235651612
+        ],
+        [
+            53.93067359144132,
+            68.91520740242555,
+            1.37245393062918
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -5.056053608436541,
+            -28.96428122392744,
+            0.8231054937269878
+        ],
+        [
+            -3.9744009918792536,
+            -26.88713960147474,
+            0.6652237359101176
+        ],
+        [
+            -3.2004805088079262,
+            -24.67480355363608,
+            0.7805911678061186
+        ],
+        [
+            -2.581179588021973,
+            -22.54183769551228,
+            0.6201024770959547
+        ],
+        [
+            -2.034053534771539,
+            -20.43126082143477,
+            0.5792529409197705
+        ],
+        [
+            -1.4655927767623904,
+            -17.956971251817762,
+            0.7230161259364979
+        ],
+        [
+            -1.0356367003277605,
+            -15.908419869222802,
+            0.5255618770300405
+        ],
+        [
+            -0.5317662195847017,
+            -13.641113191144122,
+            0.37280400667443336
+        ],
+        [
+            -0.11805856128125214,
+            -11.58728813180635,
+            0.39322180977062915
+        ],
+        [
+            0.24306398696415954,
+            -9.49924078510562,
+            0.24302202983145638
+        ],
+        [
+            0.5747244634863158,
+            -6.985963316379749,
+            0.23137345790310215
+        ],
+        [
+            0.7478755896416871,
+            -4.693346731731914,
+            0.12253552788859678
+        ],
+        [
+            0.8087213529265895,
+            -2.6861855641148864,
+            0.07358440042944026
+        ],
+        [
+            0.8088325453843126,
+            -0.6066896215227722,
+            0.04212879478991327
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354871082.json

@@ -0,0 +1,480 @@
+{
+    "timestamp": {
+        "sec": 1754654379,
+        "nsec": 25299000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.03328720000993535,
+            1.0645938397329182,
+            -0.0985941862395181
+        ],
+        [
+            -0.20875760853931702,
+            3.2182293437368337,
+            -0.004095977799838613
+        ],
+        [
+            -0.5018546459038138,
+            5.236336237072603,
+            -0.042550200647610836
+        ],
+        [
+            -0.9040563833853508,
+            7.408441878057484,
+            0.127219835679366
+        ],
+        [
+            -1.3005294683037345,
+            9.536551619938383,
+            0.2584085528500071
+        ],
+        [
+            -1.6090337316696477,
+            11.541248983054441,
+            0.46238536503122607
+        ],
+        [
+            -1.9572922765394605,
+            13.918921343058226,
+            1.096905347462192
+        ],
+        [
+            -2.265621726107261,
+            16.074422733465294,
+            1.458486901116961
+        ],
+        [
+            -2.617997385733789,
+            18.196234123447145,
+            1.8014518924733207
+        ],
+        [
+            -2.873728638081362,
+            20.209914484355362,
+            2.065445565066626
+        ],
+        [
+            -3.105063324762673,
+            22.469869607667892,
+            2.655457901715216
+        ],
+        [
+            -3.2499258983958814,
+            24.75833823899141,
+            2.970046632202493
+        ],
+        [
+            -3.45620084064811,
+            26.7894002569148,
+            3.2304999761161444
+        ],
+        [
+            -3.58330152687517,
+            28.95963572170218,
+            3.4226366824159626
+        ],
+        [
+            -3.4763309785512195,
+            31.00322552899657,
+            3.031434617793656
+        ],
+        [
+            -2.9599954039790273,
+            33.27751689887711,
+            3.821877507805392
+        ],
+        [
+            -2.4657787372229887,
+            35.49219431653532,
+            3.3045542993241845
+        ],
+        [
+            -1.3920708395039867,
+            37.7038801081665,
+            2.850720226698988
+        ],
+        [
+            0.4288502236371361,
+            39.73438163506019,
+            2.514342725441198
+        ],
+        [
+            4.735197727593238,
+            41.89778409083938,
+            2.370052221898359
+        ],
+        [
+            11.125559805834275,
+            44.00453209792215,
+            2.0819404049562023
+        ],
+        [
+            16.973082726277838,
+            46.069180374521935,
+            1.7111695571463192
+        ],
+        [
+            22.90071281269328,
+            48.078218231422966,
+            1.3852342310784436
+        ],
+        [
+            28.769013044176397,
+            50.143835379435714,
+            1.3066671027300865
+        ],
+        [
+            35.053410049301185,
+            52.21786959625041,
+            1.024507943997998
+        ],
+        [
+            41.214734391338965,
+            54.283396188769515,
+            0.9166939572653527
+        ],
+        [
+            47.86787845830223,
+            56.40038187406468,
+            0.5478207040741411
+        ],
+        [
+            51.678993224453656,
+            58.651915762125654,
+            0.5897843412086023
+        ],
+        [
+            53.06135651555157,
+            60.74735695285047,
+            0.5474990383631526
+        ],
+        [
+            53.84880627845734,
+            62.75029809732379,
+            0.4718143207409532
+        ],
+        [
+            54.02302156417847,
+            64.83519191913382,
+            0.47477839404690225
+        ],
+        [
+            53.95259021696749,
+            66.98490422721801,
+            0.5293119105057236
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -6.064963977944435,
+            -29.319491196685757,
+            0.9034041974187921
+        ],
+        [
+            -4.962428449686943,
+            -27.25483589718893,
+            0.7272501305579009
+        ],
+        [
+            -4.165635267132565,
+            -25.04973569537145,
+            0.8239303829643967
+        ],
+        [
+            -3.524859745282418,
+            -22.92453617544787,
+            0.645696454184709
+        ],
+        [
+            -2.9562271822800223,
+            -20.820062075692405,
+            0.5874202506900021
+        ],
+        [
+            -2.362137485615932,
+            -18.350702873355054,
+            0.7108986829258233
+        ],
+        [
+            -1.9116408310317716,
+            -16.308252413359668,
+            0.4967443977034093
+        ],
+        [
+            -1.3848963771110103,
+            -14.047479065544476,
+            0.32544305254752637
+        ],
+        [
+            -0.9501245737861908,
+            -11.99791129433007,
+            0.32914680994893497
+        ],
+        [
+            -0.5679513663268292,
+            -9.91489795438481,
+            0.16208318159342683
+        ],
+        [
+            -0.21058380667038357,
+            -7.405320484644989,
+            0.13034446077045425
+        ],
+        [
+            -0.01418679318591387,
+            -5.115507348674505,
+            0.0034514856599503485
+        ],
+        [
+            0.06711513506618516,
+            -3.109512612997797,
+            -0.06112009848377564
+        ],
+        [
+            0.08846457504411731,
+            -1.0304311049404795,
+            -0.10862932931033131
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            2.5112310686112442,
+            1.0645938397329182,
+            -0.0985941862395181
+        ],
+        [
+            2.3357606600818626,
+            3.2182293437368337,
+            -0.004095977799838613
+        ],
+        [
+            2.042663622717366,
+            5.236336237072603,
+            -0.042550200647610836
+        ],
+        [
+            1.6404618852358288,
+            7.408441878057484,
+            0.127219835679366
+        ],
+        [
+            1.243988800317445,
+            9.536551619938383,
+            0.2584085528500071
+        ],
+        [
+            0.9354845369515319,
+            11.541248983054441,
+            0.46238536503122607
+        ],
+        [
+            0.5872259920817191,
+            13.918921343058226,
+            1.096905347462192
+        ],
+        [
+            0.2788965425139187,
+            16.074422733465294,
+            1.458486901116961
+        ],
+        [
+            -0.07347911711260924,
+            18.196234123447145,
+            1.8014518924733207
+        ],
+        [
+            -0.32921036946018223,
+            20.209914484355362,
+            2.065445565066626
+        ],
+        [
+            -0.5605450561414935,
+            22.469869607667892,
+            2.655457901715216
+        ],
+        [
+            -0.7054076297747018,
+            24.75833823899141,
+            2.970046632202493
+        ],
+        [
+            -0.9116825720269306,
+            26.7894002569148,
+            3.2304999761161444
+        ],
+        [
+            -1.0387832582539902,
+            28.95963572170218,
+            3.4226366824159626
+        ],
+        [
+            -0.93181270993004,
+            31.00322552899657,
+            3.031434617793656
+        ],
+        [
+            -0.4154771353578477,
+            33.27751689887711,
+            3.821877507805392
+        ],
+        [
+            0.0787395313981909,
+            35.49219431653532,
+            3.3045542993241845
+        ],
+        [
+            1.152447429117193,
+            37.7038801081665,
+            2.850720226698988
+        ],
+        [
+            2.9733684922583157,
+            39.73438163506019,
+            2.514342725441198
+        ],
+        [
+            7.279715996214418,
+            41.89778409083938,
+            2.370052221898359
+        ],
+        [
+            13.670078074455454,
+            44.00453209792215,
+            2.0819404049562023
+        ],
+        [
+            19.517600994899016,
+            46.069180374521935,
+            1.7111695571463192
+        ],
+        [
+            25.445231081314457,
+            48.078218231422966,
+            1.3852342310784436
+        ],
+        [
+            31.313531312797576,
+            50.143835379435714,
+            1.3066671027300865
+        ],
+        [
+            37.59792831792237,
+            52.21786959625041,
+            1.024507943997998
+        ],
+        [
+            43.75925265996015,
+            54.283396188769515,
+            0.9166939572653527
+        ],
+        [
+            50.41239672692341,
+            56.40038187406468,
+            0.5478207040741411
+        ],
+        [
+            54.22351149307484,
+            58.651915762125654,
+            0.5897843412086023
+        ],
+        [
+            55.605874784172755,
+            60.74735695285047,
+            0.5474990383631526
+        ],
+        [
+            56.39332454707852,
+            62.75029809732379,
+            0.4718143207409532
+        ],
+        [
+            56.56753983279965,
+            64.83519191913382,
+            0.47477839404690225
+        ],
+        [
+            56.49710848558867,
+            66.98490422721801,
+            0.5293119105057236
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -3.5204457093232557,
+            -29.319491196685757,
+            0.9034041974187921
+        ],
+        [
+            -2.4179101810657633,
+            -27.25483589718893,
+            0.7272501305579009
+        ],
+        [
+            -1.6211169985113854,
+            -25.04973569537145,
+            0.8239303829643967
+        ],
+        [
+            -0.9803414766612386,
+            -22.92453617544787,
+            0.645696454184709
+        ],
+        [
+            -0.41170891365884277,
+            -20.820062075692405,
+            0.5874202506900021
+        ],
+        [
+            0.18238078300524752,
+            -18.350702873355054,
+            0.7108986829258233
+        ],
+        [
+            0.632877437589408,
+            -16.308252413359668,
+            0.4967443977034093
+        ],
+        [
+            1.1596218915101693,
+            -14.047479065544476,
+            0.32544305254752637
+        ],
+        [
+            1.5943936948349888,
+            -11.99791129433007,
+            0.32914680994893497
+        ],
+        [
+            1.9765669022943504,
+            -9.91489795438481,
+            0.16208318159342683
+        ],
+        [
+            2.333934461950796,
+            -7.405320484644989,
+            0.13034446077045425
+        ],
+        [
+            2.5303314754352657,
+            -5.115507348674505,
+            0.0034514856599503485
+        ],
+        [
+            2.6116334036873647,
+            -3.109512612997797,
+            -0.06112009848377564
+        ],
+        [
+            2.632982843665297,
+            -1.0304311049404795,
+            -0.10862932931033131
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354871193.json

@@ -0,0 +1,480 @@
+{
+    "timestamp": {
+        "sec": 1754654393,
+        "nsec": 859372000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.04964448841429103,
+            0.8299452631990825,
+            -0.10133255333055735
+        ],
+        [
+            -0.21463245610210002,
+            2.98495159903187,
+            -0.020139432853588213
+        ],
+        [
+            -0.497186689364856,
+            5.004267248221478,
+            -0.07178677256500188
+        ],
+        [
+            -0.889229513858238,
+            7.1793273027247615,
+            0.08328482874695498
+        ],
+        [
+            -1.2755511837094424,
+            9.310142059232437,
+            0.2000602581765737
+        ],
+        [
+            -1.5749480344773872,
+            11.317519236100917,
+            0.39082538508602394
+        ],
+        [
+            -1.91461941846749,
+            13.700535208606194,
+            1.0097629420236949
+        ],
+        [
+            -2.213959357363791,
+            15.859616288921838,
+            1.3572669032465712
+        ],
+        [
+            -2.5574114727866615,
+            17.985125191986068,
+            1.6860977303541373
+        ],
+        [
+            -2.8043294046109466,
+            20.00156171853455,
+            1.9371256129662628
+        ],
+        [
+            -3.02743112155828,
+            22.266014309297272,
+            2.512892529460381
+        ],
+        [
+            -3.162364100626757,
+            24.55695840220474,
+            2.813572035701022
+        ],
+        [
+            -3.35971832567221,
+            26.590504501161565,
+            3.0612407460423796
+        ],
+        [
+            -3.4768037759674133,
+            28.762425373211418,
+            3.2402485499263554
+        ],
+        [
+            -3.3571822786190513,
+            30.803164833945335,
+            2.8379871861010635
+        ],
+        [
+            -2.833692508298528,
+            33.079306223516724,
+            3.6183348381779377
+        ],
+        [
+            -2.325250129940253,
+            35.2884366680519,
+            3.0911740401901504
+        ],
+        [
+            -1.2377066760013058,
+            37.49199638546625,
+            2.6308025993010236
+        ],
+        [
+            0.5954395607577716,
+            39.51125590201731,
+            2.293155339968072
+        ],
+        [
+            4.913536326854459,
+            41.65188962804393,
+            2.16091945400789
+        ],
+        [
+            11.316108780291515,
+            43.724457667467945,
+            1.8970051196545867
+        ],
+        [
+            17.176108758841316,
+            45.75721010755795,
+            1.5475976190633407
+        ],
+        [
+            23.326262184274405,
+            47.8133158806025,
+            1.3631303581186212
+        ],
+        [
+            29.215251028602076,
+            49.833085233469376,
+            1.2381268754149077
+        ],
+        [
+            35.579955914789345,
+            51.91649577400953,
+            0.7741590583897723
+        ],
+        [
+            41.957223063658006,
+            53.94683045375126,
+            0.7119578659277392
+        ],
+        [
+            48.41887393683663,
+            56.015183122708535,
+            0.538120088062057
+        ],
+        [
+            51.9516665852295,
+            58.15682765607119,
+            0.551093400054232
+        ],
+        [
+            53.34494111045254,
+            60.244941925532515,
+            0.5046714845995602
+        ],
+        [
+            54.166499584109715,
+            62.450507500928225,
+            0.3318392081998396
+        ],
+        [
+            54.316379873508296,
+            64.69347160166505,
+            0.43099007089216634
+        ],
+        [
+            54.2504197280244,
+            66.85319987140113,
+            0.4780189234893225
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -5.952691693619242,
+            -29.059329507928823,
+            1.050094173239417
+        ],
+        [
+            -4.973100295223135,
+            -26.9146380056405,
+            0.9463862634464058
+        ],
+        [
+            -4.222029914797529,
+            -24.836757300907706,
+            0.8553206412913926
+        ],
+        [
+            -3.555537284589729,
+            -22.758764952051266,
+            0.8178255260658878
+        ],
+        [
+            -3.001144222683042,
+            -20.62059770615538,
+            0.7711928874343571
+        ],
+        [
+            -2.4822521351386957,
+            -18.568300748530667,
+            0.8058832538232477
+        ],
+        [
+            -2.0201188380565718,
+            -16.52942885892903,
+            0.5826179212562114
+        ],
+        [
+            -1.4808654753348396,
+            -14.27238171687381,
+            0.4013887566229487
+        ],
+        [
+            -1.035648880932941,
+            -12.2250615821923,
+            0.3958445900630311
+        ],
+        [
+            -0.6418952622371261,
+            -10.145010455879447,
+            0.21904925500693984
+        ],
+        [
+            -0.27152900900462207,
+            -7.63750449208629,
+            0.17499615377401645
+        ],
+        [
+            -0.06271550959305827,
+            -5.349485180478069,
+            0.03613520219885924
+        ],
+        [
+            0.02920375155069621,
+            -3.3443332975536997,
+            -0.039436938267422006
+        ],
+        [
+            0.06144968293262565,
+            -1.2656942329293592,
+            -0.09870481889369698
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            2.846373077970142,
+            0.8299452631990825,
+            -0.10133255333055735
+        ],
+        [
+            2.681385110282333,
+            2.98495159903187,
+            -0.020139432853588213
+        ],
+        [
+            2.398830877019577,
+            5.004267248221478,
+            -0.07178677256500188
+        ],
+        [
+            2.006788052526195,
+            7.1793273027247615,
+            0.08328482874695498
+        ],
+        [
+            1.6204663826749908,
+            9.310142059232437,
+            0.2000602581765737
+        ],
+        [
+            1.321069531907046,
+            11.317519236100917,
+            0.39082538508602394
+        ],
+        [
+            0.9813981479169431,
+            13.700535208606194,
+            1.0097629420236949
+        ],
+        [
+            0.6820582090206422,
+            15.859616288921838,
+            1.3572669032465712
+        ],
+        [
+            0.3386060935977717,
+            17.985125191986068,
+            1.6860977303541373
+        ],
+        [
+            0.0916881617734866,
+            20.00156171853455,
+            1.9371256129662628
+        ],
+        [
+            -0.13141355517384667,
+            22.266014309297272,
+            2.512892529460381
+        ],
+        [
+            -0.2663465342423237,
+            24.55695840220474,
+            2.813572035701022
+        ],
+        [
+            -0.4637007592877769,
+            26.590504501161565,
+            3.0612407460423796
+        ],
+        [
+            -0.5807862095829801,
+            28.762425373211418,
+            3.2402485499263554
+        ],
+        [
+            -0.4611647122346181,
+            30.803164833945335,
+            2.8379871861010635
+        ],
+        [
+            0.06232505808590538,
+            33.079306223516724,
+            3.6183348381779377
+        ],
+        [
+            0.5707674364441804,
+            35.2884366680519,
+            3.0911740401901504
+        ],
+        [
+            1.6583108903831274,
+            37.49199638546625,
+            2.6308025993010236
+        ],
+        [
+            3.491457127142205,
+            39.51125590201731,
+            2.293155339968072
+        ],
+        [
+            7.809553893238892,
+            41.65188962804393,
+            2.16091945400789
+        ],
+        [
+            14.212126346675948,
+            43.724457667467945,
+            1.8970051196545867
+        ],
+        [
+            20.07212632522575,
+            45.75721010755795,
+            1.5475976190633407
+        ],
+        [
+            26.22227975065884,
+            47.8133158806025,
+            1.3631303581186212
+        ],
+        [
+            32.11126859498651,
+            49.833085233469376,
+            1.2381268754149077
+        ],
+        [
+            38.47597348117378,
+            51.91649577400953,
+            0.7741590583897723
+        ],
+        [
+            44.853240630042436,
+            53.94683045375126,
+            0.7119578659277392
+        ],
+        [
+            51.31489150322106,
+            56.015183122708535,
+            0.538120088062057
+        ],
+        [
+            54.84768415161393,
+            58.15682765607119,
+            0.551093400054232
+        ],
+        [
+            56.24095867683697,
+            60.244941925532515,
+            0.5046714845995602
+        ],
+        [
+            57.062517150494145,
+            62.450507500928225,
+            0.3318392081998396
+        ],
+        [
+            57.212397439892726,
+            64.69347160166505,
+            0.43099007089216634
+        ],
+        [
+            57.14643729440883,
+            66.85319987140113,
+            0.4780189234893225
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -3.0566741272348086,
+            -29.059329507928823,
+            1.050094173239417
+        ],
+        [
+            -2.077082728838702,
+            -26.9146380056405,
+            0.9463862634464058
+        ],
+        [
+            -1.3260123484130961,
+            -24.836757300907706,
+            0.8553206412913926
+        ],
+        [
+            -0.6595197182052956,
+            -22.758764952051266,
+            0.8178255260658878
+        ],
+        [
+            -0.10512665629860862,
+            -20.62059770615538,
+            0.7711928874343571
+        ],
+        [
+            0.4137654312457375,
+            -18.568300748530667,
+            0.8058832538232477
+        ],
+        [
+            0.8758987283278614,
+            -16.52942885892903,
+            0.5826179212562114
+        ],
+        [
+            1.4151520910495936,
+            -14.27238171687381,
+            0.4013887566229487
+        ],
+        [
+            1.8603686854514923,
+            -12.2250615821923,
+            0.3958445900630311
+        ],
+        [
+            2.254122304147307,
+            -10.145010455879447,
+            0.21904925500693984
+        ],
+        [
+            2.624488557379811,
+            -7.63750449208629,
+            0.17499615377401645
+        ],
+        [
+            2.833302056791375,
+            -5.349485180478069,
+            0.03613520219885924
+        ],
+        [
+            2.9252213179351294,
+            -3.3443332975536997,
+            -0.039436938267422006
+        ],
+        [
+            2.957467249317059,
+            -1.2656942329293592,
+            -0.09870481889369698
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354871276.json

@@ -0,0 +1,480 @@
+{
+    "timestamp": {
+        "sec": 1754654402,
+        "nsec": 564693000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.06987286122775949,
+            0.6409264413068883,
+            0.03904827041657599
+        ],
+        [
+            -0.22772841444276004,
+            2.7967131091130994,
+            0.11341981740985907
+        ],
+        [
+            -0.5032838774079238,
+            4.816813096649092,
+            0.05506520591112518
+        ],
+        [
+            -0.8883058743875818,
+            6.993644471536989,
+            0.20269394840876798
+        ],
+        [
+            -1.267663035967555,
+            9.126097290554561,
+            0.31217261613900726
+        ],
+        [
+            -1.5606981262644979,
+            11.135039546828459,
+            0.4962225683770668
+        ],
+        [
+            -1.8937832488710615,
+            13.521031294668084,
+            1.1072243310949752
+        ],
+        [
+            -2.1866310855473667,
+            15.68214347849559,
+            1.447560616153305
+        ],
+        [
+            -2.523658961447646,
+            17.809777834302054,
+            1.769214816045313
+        ],
+        [
+            -2.7643330769084855,
+            19.827781060287606,
+            2.0136297880969805
+        ],
+        [
+            -2.9811466438962704,
+            22.09468611744562,
+            2.5821021207988384
+        ],
+        [
+            -3.1090251773046518,
+            24.38696216430793,
+            2.8756281278503
+        ],
+        [
+            -3.3000695540557476,
+            26.42189652443593,
+            3.116755506822979
+        ],
+        [
+            -3.4102061829568164,
+            28.594726871224665,
+            3.2890090351359222
+        ],
+        [
+            -3.2826537646524727,
+            30.633838948390306,
+            2.8809730423694413
+        ],
+        [
+            -2.753346110099116,
+            32.91050900802524,
+            3.6558346231986762
+        ],
+        [
+            -2.2360960539818286,
+            35.116317793540226,
+            3.1233597775867077
+        ],
+        [
+            -1.1399333368201336,
+            37.314789538876276,
+            2.659121327577789
+        ],
+        [
+            0.7008966417009344,
+            39.326798354617644,
+            2.3199970025607923
+        ],
+        [
+            5.02656263901404,
+            41.452358275705755,
+            2.192061622520196
+        ],
+        [
+            11.43677845386196,
+            43.50238470726813,
+            1.9378020850407576
+        ],
+        [
+            17.304501521751817,
+            45.51418250476467,
+            1.5968278143013164
+        ],
+        [
+            23.46204902378046,
+            47.548840745944595,
+            1.4214400195909513
+        ],
+        [
+            29.787914440904203,
+            49.63127078533336,
+            1.1844279949062102
+        ],
+        [
+            35.84696011620222,
+            51.66622922903414,
+            0.8589984170213693
+        ],
+        [
+            42.444751305325155,
+            53.70818257251627,
+            0.5956141987017216
+        ],
+        [
+            49.1085527043044,
+            55.84881160507762,
+            0.44849238407934755
+        ],
+        [
+            52.29042694580343,
+            57.89783702175891,
+            0.3610229232547436
+        ],
+        [
+            53.86812770314066,
+            60.447603878220995,
+            0.45459701534298735
+        ],
+        [
+            54.480389239865104,
+            62.832280508676824,
+            0.5413333763835237
+        ],
+        [
+            54.47782074188463,
+            64.9200062551229,
+            0.5196231214255542
+        ],
+        [
+            54.41831857888002,
+            66.95222689999059,
+            0.5899617817012387
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -6.077377028618056,
+            -29.224569512541713,
+            1.264830170658944
+        ],
+        [
+            -5.090243374035962,
+            -27.083534533511344,
+            1.1571610250655326
+        ],
+        [
+            -4.331887107161091,
+            -25.00849625116724,
+            1.0617682250749203
+        ],
+        [
+            -3.65823929556918,
+            -22.93289936181084,
+            1.0197362072260692
+        ],
+        [
+            -3.09646287872466,
+            -20.7967749503008,
+            0.9681106561273853
+        ],
+        [
+            -2.5706793572724997,
+            -18.746156747841052,
+            0.9979753279338082
+        ],
+        [
+            -2.1010649979045617,
+            -16.709540650374464,
+            0.7697859324277461
+        ],
+        [
+            -1.5536925233802048,
+            -14.454887852909799,
+            0.5831736664915366
+        ],
+        [
+            -1.1015017634012807,
+            -12.40911641406542,
+            0.5726368650673905
+        ],
+        [
+            -0.700240755608819,
+            -10.330950709579486,
+            0.39062560406173596
+        ],
+        [
+            -0.3212394799066107,
+            -7.824858995855141,
+            0.34002569162824803
+        ],
+        [
+            -0.10430285989676769,
+            -5.53798626137478,
+            0.19487263141245403
+        ],
+        [
+            -0.005377434507366274,
+            -3.5333924045295255,
+            0.11356087402890358
+        ],
+        [
+            0.03408504845284277,
+            -1.455060904160053,
+            0.04818710438400453
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.0809691014826015,
+            0.6409264413068883,
+            0.03904827041657599
+        ],
+        [
+            0.923113548267601,
+            2.7967131091130994,
+            0.11341981740985907
+        ],
+        [
+            0.6475580853024372,
+            4.816813096649092,
+            0.05506520591112518
+        ],
+        [
+            0.2625360883227792,
+            6.993644471536989,
+            0.20269394840876798
+        ],
+        [
+            -0.11682107325719393,
+            9.126097290554561,
+            0.31217261613900726
+        ],
+        [
+            -0.4098561635541369,
+            11.135039546828459,
+            0.4962225683770668
+        ],
+        [
+            -0.7429412861607005,
+            13.521031294668084,
+            1.1072243310949752
+        ],
+        [
+            -1.0357891228370057,
+            15.68214347849559,
+            1.447560616153305
+        ],
+        [
+            -1.3728169987372851,
+            17.809777834302054,
+            1.769214816045313
+        ],
+        [
+            -1.6134911141981245,
+            19.827781060287606,
+            2.0136297880969805
+        ],
+        [
+            -1.8303046811859094,
+            22.09468611744562,
+            2.5821021207988384
+        ],
+        [
+            -1.9581832145942908,
+            24.38696216430793,
+            2.8756281278503
+        ],
+        [
+            -2.1492275913453867,
+            26.42189652443593,
+            3.116755506822979
+        ],
+        [
+            -2.2593642202464554,
+            28.594726871224665,
+            3.2890090351359222
+        ],
+        [
+            -2.1318118019421117,
+            30.633838948390306,
+            2.8809730423694413
+        ],
+        [
+            -1.6025041473887551,
+            32.91050900802524,
+            3.6558346231986762
+        ],
+        [
+            -1.0852540912714677,
+            35.116317793540226,
+            3.1233597775867077
+        ],
+        [
+            0.010908625890227341,
+            37.314789538876276,
+            2.659121327577789
+        ],
+        [
+            1.8517386044112953,
+            39.326798354617644,
+            2.3199970025607923
+        ],
+        [
+            6.177404601724401,
+            41.452358275705755,
+            2.192061622520196
+        ],
+        [
+            12.587620416572321,
+            43.50238470726813,
+            1.9378020850407576
+        ],
+        [
+            18.455343484462176,
+            45.51418250476467,
+            1.5968278143013164
+        ],
+        [
+            24.612890986490818,
+            47.548840745944595,
+            1.4214400195909513
+        ],
+        [
+            30.938756403614562,
+            49.63127078533336,
+            1.1844279949062102
+        ],
+        [
+            36.99780207891258,
+            51.66622922903414,
+            0.8589984170213693
+        ],
+        [
+            43.595593268035515,
+            53.70818257251627,
+            0.5956141987017216
+        ],
+        [
+            50.25939466701476,
+            55.84881160507762,
+            0.44849238407934755
+        ],
+        [
+            53.44126890851379,
+            57.89783702175891,
+            0.3610229232547436
+        ],
+        [
+            55.01896966585102,
+            60.447603878220995,
+            0.45459701534298735
+        ],
+        [
+            55.631231202575464,
+            62.832280508676824,
+            0.5413333763835237
+        ],
+        [
+            55.62866270459499,
+            64.9200062551229,
+            0.5196231214255542
+        ],
+        [
+            55.56916054159038,
+            66.95222689999059,
+            0.5899617817012387
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -4.926535065907695,
+            -29.224569512541713,
+            1.264830170658944
+        ],
+        [
+            -3.9394014113256013,
+            -27.083534533511344,
+            1.1571610250655326
+        ],
+        [
+            -3.1810451444507297,
+            -25.00849625116724,
+            1.0617682250749203
+        ],
+        [
+            -2.507397332858819,
+            -22.93289936181084,
+            1.0197362072260692
+        ],
+        [
+            -1.945620916014299,
+            -20.7967749503008,
+            0.9681106561273853
+        ],
+        [
+            -1.4198373945621388,
+            -18.746156747841052,
+            0.9979753279338082
+        ],
+        [
+            -0.9502230351942007,
+            -16.709540650374464,
+            0.7697859324277461
+        ],
+        [
+            -0.4028505606698438,
+            -14.454887852909799,
+            0.5831736664915366
+        ],
+        [
+            0.04934019930908029,
+            -12.40911641406542,
+            0.5726368650673905
+        ],
+        [
+            0.45060120710154195,
+            -10.330950709579486,
+            0.39062560406173596
+        ],
+        [
+            0.8296024828037503,
+            -7.824858995855141,
+            0.34002569162824803
+        ],
+        [
+            1.0465391028135933,
+            -5.53798626137478,
+            0.19487263141245403
+        ],
+        [
+            1.1454645282029947,
+            -3.5333924045295255,
+            0.11356087402890358
+        ],
+        [
+            1.1849270111632038,
+            -1.455060904160053,
+            0.04818710438400453
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354871387.json

@@ -0,0 +1,470 @@
+{
+    "timestamp": {
+        "sec": 1754654410,
+        "nsec": 661933000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.050089705470103496,
+            0.36104101221225093,
+            0.09883227565262853
+        ],
+        [
+            -0.19206088826764933,
+            2.5176518907645296,
+            0.18092589013636085
+        ],
+        [
+            -0.45331231107705605,
+            4.539862172754962,
+            0.1303956715713881
+        ],
+        [
+            -0.8219551675412493,
+            6.718910876771002,
+            0.28685719518008157
+        ],
+        [
+            -1.1854276292428647,
+            8.853666765627668,
+            0.40499916334697583
+        ],
+        [
+            -1.463130603136408,
+            10.864050506928312,
+            0.596913751410726
+        ],
+        [
+            -1.7762131098280012,
+            13.250359984605442,
+            1.217181350481518
+        ],
+        [
+            -2.051917732800055,
+            15.412395060677543,
+            1.5658729106988163
+        ],
+        [
+            -2.37212747401038,
+            17.54133240205105,
+            1.8959769603399195
+        ],
+        [
+            -2.5971301827206545,
+            19.5602022516491,
+            2.148044490896765
+        ],
+        [
+            -2.79499810754573,
+            21.82673188450625,
+            2.7248626266655993
+        ],
+        [
+            -2.9050079555200465,
+            24.118893606698347,
+            3.026412595670802
+        ],
+        [
+            -3.0802757203026694,
+            26.154347857204332,
+            3.2750195576272287
+        ],
+        [
+            -3.1739595166287593,
+            28.327337669091566,
+            3.4548297205997702
+        ],
+        [
+            -3.033578854174925,
+            30.36680657552112,
+            3.052833572151731
+        ],
+        [
+            -2.484339084584441,
+            32.637057296730745,
+            3.832641857180416
+        ],
+        [
+            -1.9536421664285708,
+            34.84082268013957,
+            3.3049597597327374
+        ],
+        [
+            -0.8437946954890165,
+            37.0328633965553,
+            2.8428297511553158
+        ],
+        [
+            1.4745075292375454,
+            39.404999294002195,
+            2.4449197937218976
+        ],
+        [
+            6.032494635222488,
+            41.432682397826355,
+            2.2084735996754583
+        ],
+        [
+            13.15788702782794,
+            43.54783698768419,
+            2.3208291134948267
+        ],
+        [
+            18.988313558347226,
+            45.56831965149527,
+            1.5711715982995442
+        ],
+        [
+            25.401851274059307,
+            47.593128348354554,
+            1.430060739658308
+        ],
+        [
+            31.77178901542536,
+            49.627592994934645,
+            1.1662236943492925
+        ],
+        [
+            37.816445398392275,
+            51.678818089291525,
+            1.0291747920598335
+        ],
+        [
+            44.67449371967534,
+            53.69667579475285,
+            0.7828364691542066
+        ],
+        [
+            50.90877836338794,
+            55.90945066026036,
+            0.49814841262118603
+        ],
+        [
+            53.42358483801222,
+            58.25041258404015,
+            0.5324726946239
+        ],
+        [
+            54.55018419569545,
+            60.65904389540617,
+            0.6243863282368736
+        ],
+        [
+            54.905773293402845,
+            62.82907852826354,
+            0.5220338423600507
+        ],
+        [
+            54.96668599236115,
+            64.95664145121218,
+            0.5481015845888736
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -6.267040730519675,
+            -29.464329566769283,
+            1.2552430746677679
+        ],
+        [
+            -5.2650027187,
+            -27.330108835263278,
+            1.149991136769004
+        ],
+        [
+            -4.492153353855006,
+            -25.260277407653902,
+            1.0578520705092682
+        ],
+        [
+            -3.8037614574742324,
+            -23.189453065456238,
+            1.019463889360717
+        ],
+        [
+            -3.22684444967617,
+            -21.057266946782136,
+            0.9721927253726164
+        ],
+        [
+            -2.6861629121380908,
+            -19.01059269104568,
+            1.0062982701283
+        ],
+        [
+            -2.20292880346606,
+            -16.976669874250362,
+            0.782566406636828
+        ],
+        [
+            -1.6401778021058835,
+            -14.725412820371588,
+            0.6007615975442907
+        ],
+        [
+            -1.1733059279085225,
+            -12.682923343162326,
+            0.5947886452696687
+        ],
+        [
+            -0.7579121470708667,
+            -10.607111981026275,
+            0.41768306524108656
+        ],
+        [
+            -0.3610922442940101,
+            -8.103658788929302,
+            0.37347813950155195
+        ],
+        [
+            -0.12834334266201353,
+            -5.817941944568119,
+            0.23475442886185216
+        ],
+        [
+            -0.01534420433304895,
+            -3.813855654818969,
+            0.1594968009733675
+        ],
+        [
+            0.038798493244650345,
+            -1.7356585744511328,
+            0.1006894358173065
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.9407179044792198,
+            0.36104101221225093,
+            0.09883227565262853
+        ],
+        [
+            1.798746721681674,
+            2.5176518907645296,
+            0.18092589013636085
+        ],
+        [
+            1.5374952988722672,
+            4.539862172754962,
+            0.1303956715713881
+        ],
+        [
+            1.168852442408074,
+            6.718910876771002,
+            0.28685719518008157
+        ],
+        [
+            0.8053799807064586,
+            8.853666765627668,
+            0.40499916334697583
+        ],
+        [
+            0.5276770068129153,
+            10.864050506928312,
+            0.596913751410726
+        ],
+        [
+            0.21459450012132208,
+            13.250359984605442,
+            1.217181350481518
+        ],
+        [
+            -0.061110122850731585,
+            15.412395060677543,
+            1.5658729106988163
+        ],
+        [
+            -0.3813198640610569,
+            17.54133240205105,
+            1.8959769603399195
+        ],
+        [
+            -0.6063225727713313,
+            19.5602022516491,
+            2.148044490896765
+        ],
+        [
+            -0.8041904975964069,
+            21.82673188450625,
+            2.7248626266655993
+        ],
+        [
+            -0.9142003455707233,
+            24.118893606698347,
+            3.026412595670802
+        ],
+        [
+            -1.0894681103533461,
+            26.154347857204332,
+            3.2750195576272287
+        ],
+        [
+            -1.183151906679436,
+            28.327337669091566,
+            3.4548297205997702
+        ],
+        [
+            -1.0427712442256016,
+            30.36680657552112,
+            3.052833572151731
+        ],
+        [
+            -0.4935314746351178,
+            32.637057296730745,
+            3.832641857180416
+        ],
+        [
+            0.03716544352075246,
+            34.84082268013957,
+            3.3049597597327374
+        ],
+        [
+            1.1470129144603067,
+            37.0328633965553,
+            2.8428297511553158
+        ],
+        [
+            3.4653151391868686,
+            39.404999294002195,
+            2.4449197937218976
+        ],
+        [
+            8.023302245171811,
+            41.432682397826355,
+            2.2084735996754583
+        ],
+        [
+            15.148694637777263,
+            43.54783698768419,
+            2.3208291134948267
+        ],
+        [
+            20.97912116829655,
+            45.56831965149527,
+            1.5711715982995442
+        ],
+        [
+            27.392658884008632,
+            47.593128348354554,
+            1.430060739658308
+        ],
+        [
+            33.762596625374684,
+            49.627592994934645,
+            1.1662236943492925
+        ],
+        [
+            39.8072530083416,
+            51.678818089291525,
+            1.0291747920598335
+        ],
+        [
+            46.66530132962466,
+            53.69667579475285,
+            0.7828364691542066
+        ],
+        [
+            52.89958597333726,
+            55.90945066026036,
+            0.49814841262118603
+        ],
+        [
+            55.41439244796154,
+            58.25041258404015,
+            0.5324726946239
+        ],
+        [
+            56.54099180564477,
+            60.65904389540617,
+            0.6243863282368736
+        ],
+        [
+            56.89658090335217,
+            62.82907852826354,
+            0.5220338423600507
+        ],
+        [
+            56.95749360231047,
+            64.95664145121218,
+            0.5481015845888736
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -4.276233120570351,
+            -29.464329566769283,
+            1.2552430746677679
+        ],
+        [
+            -3.2741951087506767,
+            -27.330108835263278,
+            1.149991136769004
+        ],
+        [
+            -2.5013457439056825,
+            -25.260277407653902,
+            1.0578520705092682
+        ],
+        [
+            -1.8129538475249092,
+            -23.189453065456238,
+            1.019463889360717
+        ],
+        [
+            -1.2360368397268466,
+            -21.057266946782136,
+            0.9721927253726164
+        ],
+        [
+            -0.6953553021887675,
+            -19.01059269104568,
+            1.0062982701283
+        ],
+        [
+            -0.21212119351673664,
+            -16.976669874250362,
+            0.782566406636828
+        ],
+        [
+            0.3506298078434398,
+            -14.725412820371588,
+            0.6007615975442907
+        ],
+        [
+            0.8175016820408008,
+            -12.682923343162326,
+            0.5947886452696687
+        ],
+        [
+            1.2328954628784565,
+            -10.607111981026275,
+            0.41768306524108656
+        ],
+        [
+            1.6297153656553132,
+            -8.103658788929302,
+            0.37347813950155195
+        ],
+        [
+            1.8624642672873097,
+            -5.817941944568119,
+            0.23475442886185216
+        ],
+        [
+            1.9754634056162743,
+            -3.813855654818969,
+            0.1594968009733675
+        ],
+        [
+            2.0296061031939736,
+            -1.7356585744511328,
+            0.1006894358173065
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354871496.json

@@ -0,0 +1,470 @@
+{
+    "timestamp": {
+        "sec": 1754654426,
+        "nsec": 766663000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.12212070388078189,
+            2.1574754992253347,
+            0.09083866852857247
+        ],
+        [
+            -0.36587524822540374,
+            4.182080960485074,
+            0.04965029826949774
+        ],
+        [
+            -0.713793959048699,
+            6.3637311067284585,
+            0.21694114835190415
+        ],
+        [
+            -1.0572738054743454,
+            8.50118086689723,
+            0.3457145070866675
+        ],
+        [
+            -1.3154414014355087,
+            10.513244611936763,
+            0.5470647402629035
+        ],
+        [
+            -1.601869375955884,
+            12.900008291743447,
+            1.1783678575313192
+        ],
+        [
+            -1.8553095469334018,
+            15.063142078844479,
+            1.5369969309453995
+        ],
+        [
+            -2.1537089193477303,
+            17.1936387074905,
+            1.877318977425897
+        ],
+        [
+            -2.3585737059298886,
+            19.213509106784684,
+            2.1383816476370896
+        ],
+        [
+            -2.5312416117492162,
+            21.479635107917808,
+            2.724799753884148
+        ],
+        [
+            -2.618263171767074,
+            23.771593659522544,
+            3.0352722276381625
+        ],
+        [
+            -2.7732804960410284,
+            25.807620743069172,
+            3.292491124781315
+        ],
+        [
+            -2.846109090428836,
+            27.98070093606423,
+            3.4806706710133835
+        ],
+        [
+            -2.691215282679824,
+            30.020265241845088,
+            3.0845312953428277
+        ],
+        [
+            -2.115007576389768,
+            32.2827928760363,
+            3.867319265859191
+        ],
+        [
+            -1.5694823686244472,
+            34.48364533005038,
+            3.3426096286590408
+        ],
+        [
+            -0.4443767158689784,
+            36.6674258382279,
+            2.8782735238334034
+        ],
+        [
+            1.8912526342141334,
+            39.0203923244854,
+            2.4680656388135906
+        ],
+        [
+            6.885833250670267,
+            41.17305577376622,
+            2.032429796518708
+        ],
+        [
+            14.024248671620157,
+            43.231513219905835,
+            2.156389907603945
+        ],
+        [
+            20.19306620156159,
+            45.26016083440582,
+            1.6556617098122022
+        ],
+        [
+            26.971453531879835,
+            47.28110910966369,
+            1.0995191639794557
+        ],
+        [
+            33.07059888317707,
+            49.319251983047124,
+            0.9848131055057927
+        ],
+        [
+            39.70344395575562,
+            51.354772268935946,
+            0.4524614016758134
+        ],
+        [
+            47.114665200825,
+            53.376979702998554,
+            0.1863991031434722
+        ],
+        [
+            51.99527678541594,
+            55.4355960340348,
+            0.0876053773180141
+        ],
+        [
+            54.28298279154227,
+            57.77748571208019,
+            0.012247147270149972
+        ],
+        [
+            55.13506306201249,
+            59.81117925125589,
+            0.250851685649788
+        ],
+        [
+            55.508953045783926,
+            61.978338520121824,
+            0.15288776893566558
+        ],
+        [
+            55.58894788828276,
+            64.10517449425235,
+            0.185803411156662
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -6.470589570907427,
+            -29.77321846660091,
+            1.1078939039637163
+        ],
+        [
+            -5.450644331744998,
+            -27.647570563698338,
+            1.0011747381648661
+        ],
+        [
+            -4.660324620886847,
+            -25.58433144039511,
+            0.909376254016004
+        ],
+        [
+            -3.953972068769895,
+            -23.519544415031948,
+            0.8720784832674607
+        ],
+        [
+            -3.3586203082169437,
+            -21.392382309523,
+            0.8270996038768255
+        ],
+        [
+            -2.799540099175429,
+            -19.350697162246483,
+            0.8635180272442309
+        ],
+        [
+            -2.3002938618045174,
+            -17.320339830245167,
+            0.6425757857748903
+        ],
+        [
+            -1.719240293404896,
+            -15.07350929328733,
+            0.4636084993121907
+        ],
+        [
+            -1.2343551559216657,
+            -13.035214520586514,
+            0.4605901198845226
+        ],
+        [
+            -0.802160726474634,
+            -10.962536967864676,
+            0.28701901512632577
+        ],
+        [
+            -0.3835743349825158,
+            -8.462544896824337,
+            0.24799244324197733
+        ],
+        [
+            -0.13181097996382718,
+            -6.17849457569551,
+            0.115149847204292
+        ],
+        [
+            -0.001723373196224287,
+            -4.175229819992985,
+            0.04585406302817052
+        ],
+        [
+            0.07031458627029963,
+            -2.097396237114477,
+            -0.006212980340276397
+        ],
+        [
+            0.0,
+            -7.105427357601002e-15,
+            0.0
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.7724254572267206,
+            2.1574754992253347,
+            0.09083866852857247
+        ],
+        [
+            0.5286709128820988,
+            4.182080960485074,
+            0.04965029826949774
+        ],
+        [
+            0.1807522020588035,
+            6.3637311067284585,
+            0.21694114835190415
+        ],
+        [
+            -0.16272764436684284,
+            8.50118086689723,
+            0.3457145070866675
+        ],
+        [
+            -0.4208952403280062,
+            10.513244611936763,
+            0.5470647402629035
+        ],
+        [
+            -0.7073232148483815,
+            12.900008291743447,
+            1.1783678575313192
+        ],
+        [
+            -0.9607633858258993,
+            15.063142078844479,
+            1.5369969309453995
+        ],
+        [
+            -1.2591627582402278,
+            17.1936387074905,
+            1.877318977425897
+        ],
+        [
+            -1.464027544822386,
+            19.213509106784684,
+            2.1383816476370896
+        ],
+        [
+            -1.6366954506417137,
+            21.479635107917808,
+            2.724799753884148
+        ],
+        [
+            -1.7237170106595716,
+            23.771593659522544,
+            3.0352722276381625
+        ],
+        [
+            -1.878734334933526,
+            25.807620743069172,
+            3.292491124781315
+        ],
+        [
+            -1.9515629293213337,
+            27.98070093606423,
+            3.4806706710133835
+        ],
+        [
+            -1.7966691215723216,
+            30.020265241845088,
+            3.0845312953428277
+        ],
+        [
+            -1.2204614152822657,
+            32.2827928760363,
+            3.867319265859191
+        ],
+        [
+            -0.6749362075169447,
+            34.48364533005038,
+            3.3426096286590408
+        ],
+        [
+            0.4501694452385241,
+            36.6674258382279,
+            2.8782735238334034
+        ],
+        [
+            2.785798795321636,
+            39.0203923244854,
+            2.4680656388135906
+        ],
+        [
+            7.780379411777769,
+            41.17305577376622,
+            2.032429796518708
+        ],
+        [
+            14.91879483272766,
+            43.231513219905835,
+            2.156389907603945
+        ],
+        [
+            21.08761236266909,
+            45.26016083440582,
+            1.6556617098122022
+        ],
+        [
+            27.865999692987337,
+            47.28110910966369,
+            1.0995191639794557
+        ],
+        [
+            33.96514504428457,
+            49.319251983047124,
+            0.9848131055057927
+        ],
+        [
+            40.597990116863116,
+            51.354772268935946,
+            0.4524614016758134
+        ],
+        [
+            48.0092113619325,
+            53.376979702998554,
+            0.1863991031434722
+        ],
+        [
+            52.88982294652344,
+            55.4355960340348,
+            0.0876053773180141
+        ],
+        [
+            55.177528952649766,
+            57.77748571208019,
+            0.012247147270149972
+        ],
+        [
+            56.02960922311999,
+            59.81117925125589,
+            0.250851685649788
+        ],
+        [
+            56.403499206891425,
+            61.978338520121824,
+            0.15288776893566558
+        ],
+        [
+            56.48349404939026,
+            64.10517449425235,
+            0.185803411156662
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -5.576043409799924,
+            -29.77321846660091,
+            1.1078939039637163
+        ],
+        [
+            -4.556098170637496,
+            -27.647570563698338,
+            1.0011747381648661
+        ],
+        [
+            -3.7657784597793444,
+            -25.58433144039511,
+            0.909376254016004
+        ],
+        [
+            -3.0594259076623924,
+            -23.519544415031948,
+            0.8720784832674607
+        ],
+        [
+            -2.464074147109441,
+            -21.392382309523,
+            0.8270996038768255
+        ],
+        [
+            -1.9049939380679266,
+            -19.350697162246483,
+            0.8635180272442309
+        ],
+        [
+            -1.405747700697015,
+            -17.320339830245167,
+            0.6425757857748903
+        ],
+        [
+            -0.8246941322973935,
+            -15.07350929328733,
+            0.4636084993121907
+        ],
+        [
+            -0.33980899481416316,
+            -13.035214520586514,
+            0.4605901198845226
+        ],
+        [
+            0.09238543463286852,
+            -10.962536967864676,
+            0.28701901512632577
+        ],
+        [
+            0.5109718261249867,
+            -8.462544896824337,
+            0.24799244324197733
+        ],
+        [
+            0.7627351811436753,
+            -6.17849457569551,
+            0.115149847204292
+        ],
+        [
+            0.8928227879112782,
+            -4.175229819992985,
+            0.04585406302817052
+        ],
+        [
+            0.9648607473778021,
+            -2.097396237114477,
+            -0.006212980340276397
+        ],
+        [
+            0.8945461611075025,
+            -7.105427357601002e-15,
+            0.0
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354871683.json

@@ -0,0 +1,470 @@
+{
+    "timestamp": {
+        "sec": 1754654432,
+        "nsec": 721872000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.06668726974865535,
+            1.5213712373025174,
+            -0.014723011242978146
+        ],
+        [
+            -0.2853296747047267,
+            3.54881812648771,
+            -0.0570862474784366
+        ],
+        [
+            -0.6067865228612721,
+            5.734639138061169,
+            0.10869378329496127
+        ],
+        [
+            -0.9242400125050274,
+            7.876197930303007,
+            0.23597960870627588
+        ],
+        [
+            -1.158142253051139,
+            9.891347608957396,
+            0.43611569389239624
+        ],
+        [
+            -1.4169093309384113,
+            12.281633878482907,
+            1.066033643171908
+        ],
+        [
+            -1.6446705125463588,
+            14.447826435709679,
+            1.4234258124046786
+        ],
+        [
+            -1.9177375668975323,
+            16.581933923948576,
+            1.7623900847412133
+        ],
+        [
+            -2.098415642495219,
+            18.604248366896876,
+            2.0223890373257096
+        ],
+        [
+            -2.2447916277935196,
+            20.872490744509747,
+            2.607776124111048
+        ],
+        [
+            -2.304420758187895,
+            23.165432437614697,
+            2.917457686317171
+        ],
+        [
+            -2.4350450779329336,
+            25.203286426900362,
+            3.1737517015645484
+        ],
+        [
+            -2.481599284932507,
+            27.37715057936009,
+            3.3612094926248544
+        ],
+        [
+            -2.3004262424469726,
+            29.414541619071088,
+            2.9650338572901163
+        ],
+        [
+            -1.698592311546463,
+            31.67000180940679,
+            3.748933642007309
+        ],
+        [
+            -1.124462106723696,
+            33.863815439629825,
+            3.225267962612787
+        ],
+        [
+            0.028818921906179185,
+            36.03342569955141,
+            2.763637975449455
+        ],
+        [
+            2.3944589098646745,
+            38.35729199018886,
+            2.359559807313958
+        ],
+        [
+            7.41643879573666,
+            40.44806556859816,
+            1.9377092212485039
+        ],
+        [
+            14.809044027639612,
+            42.50664571469864,
+            1.7588228030776891
+        ],
+        [
+            21.367782224135603,
+            44.54580603838277,
+            1.357041493848508
+        ],
+        [
+            28.120061075827266,
+            46.569562358908904,
+            1.3644307545729073
+        ],
+        [
+            35.02224462922299,
+            48.6146289707029,
+            0.8753341728263471
+        ],
+        [
+            41.742153733363864,
+            50.660993907187,
+            0.6837277673543098
+        ],
+        [
+            49.498072205831974,
+            52.71384110837182,
+            0.06151964292195533
+        ],
+        [
+            53.436266330147234,
+            54.72448017426351,
+            0.25836621294781525
+        ],
+        [
+            55.09002640341605,
+            56.75470532081592,
+            0.22441588015016145
+        ],
+        [
+            56.148616207375156,
+            59.02191485662154,
+            0.18789127365174552
+        ],
+        [
+            56.399535730436625,
+            61.09897436732218,
+            0.18561494203385176
+        ],
+        [
+            56.40849792594325,
+            63.249937202541865,
+            0.23537483724443042
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -6.811440743149513,
+            -30.328308499491893,
+            0.9916947417099143
+        ],
+        [
+            -5.765050950313279,
+            -28.21543230031401,
+            0.8873930315189477
+        ],
+        [
+            -4.949080777089657,
+            -26.16212366557649,
+            0.7973696239309068
+        ],
+        [
+            -4.217207711445607,
+            -24.106216737612087,
+            0.7616060806815983
+        ],
+        [
+            -3.5955351452528124,
+            -21.9865723709803,
+            0.7178291352949624
+        ],
+        [
+            -3.011418289927441,
+            -19.95192897706638,
+            0.7553655341530381
+        ],
+        [
+            -2.486534751752872,
+            -17.927944273247768,
+            0.5353737950635016
+        ],
+        [
+            -1.8773000722076887,
+            -15.688500548615842,
+            0.35753985503467234
+        ],
+        [
+            -1.3673014434934352,
+            -13.656342772543503,
+            0.35542811539963737
+        ],
+        [
+            -0.9090776863141024,
+            -11.589201143462887,
+            0.18260547658344906
+        ],
+        [
+            -0.45957422184669383,
+            -9.094573183592367,
+            0.14418708275901682
+        ],
+        [
+            -0.1792760591853444,
+            -6.8138382228515155,
+            0.011526649456236715
+        ],
+        [
+            -0.02428919959589848,
+            -4.812349360077171,
+            -0.05786915822608729
+        ],
+        [
+            0.07352327980670736,
+            -2.7355766347975887,
+            -0.11021998586906823
+        ],
+        [
+            0.029069367520076383,
+            -0.6374710297839989,
+            -0.10470296475318674
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            2.3284485217049555,
+            1.5213712373025174,
+            -0.014723011242978146
+        ],
+        [
+            2.109806116748884,
+            3.54881812648771,
+            -0.0570862474784366
+        ],
+        [
+            1.7883492685923388,
+            5.734639138061169,
+            0.10869378329496127
+        ],
+        [
+            1.4708957789485835,
+            7.876197930303007,
+            0.23597960870627588
+        ],
+        [
+            1.236993538402472,
+            9.891347608957396,
+            0.43611569389239624
+        ],
+        [
+            0.9782264605151996,
+            12.281633878482907,
+            1.066033643171908
+        ],
+        [
+            0.7504652789072521,
+            14.447826435709679,
+            1.4234258124046786
+        ],
+        [
+            0.4773982245560786,
+            16.581933923948576,
+            1.7623900847412133
+        ],
+        [
+            0.29672014895839194,
+            18.604248366896876,
+            2.0223890373257096
+        ],
+        [
+            0.1503441636600913,
+            20.872490744509747,
+            2.607776124111048
+        ],
+        [
+            0.09071503326571584,
+            23.165432437614697,
+            2.917457686317171
+        ],
+        [
+            -0.03990928647932268,
+            25.203286426900362,
+            3.1737517015645484
+        ],
+        [
+            -0.08646349347889615,
+            27.37715057936009,
+            3.3612094926248544
+        ],
+        [
+            0.0947095490066383,
+            29.414541619071088,
+            2.9650338572901163
+        ],
+        [
+            0.6965434799071479,
+            31.67000180940679,
+            3.748933642007309
+        ],
+        [
+            1.270673684729915,
+            33.863815439629825,
+            3.225267962612787
+        ],
+        [
+            2.42395471335979,
+            36.03342569955141,
+            2.763637975449455
+        ],
+        [
+            4.789594701318285,
+            38.35729199018886,
+            2.359559807313958
+        ],
+        [
+            9.811574587190272,
+            40.44806556859816,
+            1.9377092212485039
+        ],
+        [
+            17.204179819093223,
+            42.50664571469864,
+            1.7588228030776891
+        ],
+        [
+            23.762918015589214,
+            44.54580603838277,
+            1.357041493848508
+        ],
+        [
+            30.515196867280878,
+            46.569562358908904,
+            1.3644307545729073
+        ],
+        [
+            37.4173804206766,
+            48.6146289707029,
+            0.8753341728263471
+        ],
+        [
+            44.137289524817476,
+            50.660993907187,
+            0.6837277673543098
+        ],
+        [
+            51.893207997285586,
+            52.71384110837182,
+            0.06151964292195533
+        ],
+        [
+            55.831402121600846,
+            54.72448017426351,
+            0.25836621294781525
+        ],
+        [
+            57.48516219486966,
+            56.75470532081592,
+            0.22441588015016145
+        ],
+        [
+            58.54375199882877,
+            59.02191485662154,
+            0.18789127365174552
+        ],
+        [
+            58.79467152189024,
+            61.09897436732218,
+            0.18561494203385176
+        ],
+        [
+            58.80363371739686,
+            63.249937202541865,
+            0.23537483724443042
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -4.416304951695902,
+            -30.328308499491893,
+            0.9916947417099143
+        ],
+        [
+            -3.3699151588596683,
+            -28.21543230031401,
+            0.8873930315189477
+        ],
+        [
+            -2.553944985636046,
+            -26.16212366557649,
+            0.7973696239309068
+        ],
+        [
+            -1.8220719199919957,
+            -24.106216737612087,
+            0.7616060806815983
+        ],
+        [
+            -1.2003993537992015,
+            -21.9865723709803,
+            0.7178291352949624
+        ],
+        [
+            -0.6162824984738302,
+            -19.95192897706638,
+            0.7553655341530381
+        ],
+        [
+            -0.09139896029926131,
+            -17.927944273247768,
+            0.5353737950635016
+        ],
+        [
+            0.5178357192459222,
+            -15.688500548615842,
+            0.35753985503467234
+        ],
+        [
+            1.0278343479601757,
+            -13.656342772543503,
+            0.35542811539963737
+        ],
+        [
+            1.4860581051395085,
+            -11.589201143462887,
+            0.18260547658344906
+        ],
+        [
+            1.935561569606917,
+            -9.094573183592367,
+            0.14418708275901682
+        ],
+        [
+            2.2158597322682665,
+            -6.8138382228515155,
+            0.011526649456236715
+        ],
+        [
+            2.3708465918577124,
+            -4.812349360077171,
+            -0.05786915822608729
+        ],
+        [
+            2.4686590712603182,
+            -2.7355766347975887,
+            -0.11021998586906823
+        ],
+        [
+            2.4242051589736873,
+            -0.6374710297839989,
+            -0.10470296475318674
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354871858.json

@@ -0,0 +1,470 @@
+{
+    "timestamp": {
+        "sec": 1754654440,
+        "nsec": 434350000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.03872796184341354,
+            1.1085298859032378,
+            0.04445621009284939
+        ],
+        [
+            -0.2428221038016929,
+            3.137334978990012,
+            -0.004894666084495958
+        ],
+        [
+            -0.5485989988414168,
+            5.325962744525185,
+            0.15334569809100085
+        ],
+        [
+            -0.8506888297982478,
+            7.470168529477398,
+            0.27324459665110523
+        ],
+        [
+            -1.0701385872226563,
+            9.487620627813634,
+            0.4664330357256401
+        ],
+        [
+            -1.311776122321751,
+            11.881854556976677,
+            1.0881087291388158
+        ],
+        [
+            -1.5240068408781013,
+            14.050841791942126,
+            1.4380330211206904
+        ],
+        [
+            -1.7817717812766336,
+            16.188006502588102,
+            1.7696373041461153
+        ],
+        [
+            -1.9479493241788504,
+            18.212447386582483,
+            2.0226666699341136
+        ],
+        [
+            -2.0780725158479356,
+            20.483681991619115,
+            2.600238118258827
+        ],
+        [
+            -2.121264869177315,
+            22.778044341539562,
+            2.902025690936058
+        ],
+        [
+            -2.2372783691593536,
+            24.817652544853473,
+            3.151299559611636
+        ],
+        [
+            -2.2682461636209688,
+            26.992426804787108,
+            3.3312745162148594
+        ],
+        [
+            -2.0724521856191824,
+            29.02709085687674,
+            2.9281021369979094
+        ],
+        [
+            -1.4544829101106895,
+            31.280860522431034,
+            3.7042721520119146
+        ],
+        [
+            -0.8646157911962753,
+            33.468685248429956,
+            3.1730949401990887
+        ],
+        [
+            0.30421162384674005,
+            35.62836712694338,
+            2.704069659998194
+        ],
+        [
+            2.6864712769772154,
+            37.93380309051823,
+            2.2921349342522213
+        ],
+        [
+            7.72333130196348,
+            39.987041189287474,
+            1.863382738107542
+        ],
+        [
+            15.130516810703273,
+            41.99192063583781,
+            1.6778404863178364
+        ],
+        [
+            22.195652777799577,
+            44.111831033131814,
+            1.2177069275982104
+        ],
+        [
+            29.392946326939505,
+            46.147637608519325,
+            0.754980289801257
+        ],
+        [
+            36.17145413455211,
+            48.18461065757531,
+            0.6820256530082133
+        ],
+        [
+            43.312084452747,
+            50.24328650588526,
+            0.439849893325287
+        ],
+        [
+            51.154755504362996,
+            52.37189779226032,
+            0.023851083717385757
+        ],
+        [
+            54.46170119868293,
+            54.45422957604992,
+            -0.11620865583511253
+        ],
+        [
+            56.07475198782862,
+            56.79854772411189,
+            -0.005927954505490662
+        ],
+        [
+            56.77233866845009,
+            59.159644670306385,
+            0.08161661249598984
+        ],
+        [
+            56.84382944962442,
+            61.246204001451325,
+            0.0662559307035051
+        ],
+        [
+            56.857403521106946,
+            63.27900465530997,
+            0.14336643720719922
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -7.011773189582799,
+            -30.6883056707915,
+            1.1600566220681607
+        ],
+        [
+            -5.950252919192826,
+            -28.583359948055506,
+            1.0485465407317593
+        ],
+        [
+            -5.119574041545526,
+            -26.53627819806242,
+            0.9515063528307284
+        ],
+        [
+            -4.372973257229395,
+            -24.485808393904897,
+            0.908711928080143
+        ],
+        [
+            -3.736112736982056,
+            -22.370840377461708,
+            0.8576785206820685
+        ],
+        [
+            -3.137419279171006,
+            -20.34032151341979,
+            0.8882482549985808
+        ],
+        [
+            -2.5980255925977023,
+            -18.32092227164717,
+            0.66132463697034
+        ],
+        [
+            -1.9727390062775214,
+            -16.086530740782322,
+            0.4758221503360742
+        ],
+        [
+            -1.4481783922221485,
+            -14.058102256858337,
+            0.46674826617925647
+        ],
+        [
+            -0.9751347932757675,
+            -11.994907070964004,
+            0.28684115345912575
+        ],
+        [
+            -0.5077496668131509,
+            -9.503714084155153,
+            0.2398662478615914
+        ],
+        [
+            -0.21109647343539706,
+            -7.22551804634351,
+            0.09937600670895219
+        ],
+        [
+            -0.04175624809990808,
+            -5.2254428551706695,
+            0.023103532530760473
+        ],
+        [
+            0.0709504577336979,
+            -3.149617478714802,
+            -0.036386362989292875
+        ],
+        [
+            0.041545531781224554,
+            -1.0512404476654353,
+            -0.03809033575826826
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.8190359947127481,
+            1.1085298859032378,
+            0.04445621009284939
+        ],
+        [
+            0.6149418527544688,
+            3.137334978990012,
+            -0.004894666084495958
+        ],
+        [
+            0.30916495771474484,
+            5.325962744525185,
+            0.15334569809100085
+        ],
+        [
+            0.0070751267579138855,
+            7.470168529477398,
+            0.27324459665110523
+        ],
+        [
+            -0.21237463066649465,
+            9.487620627813634,
+            0.4664330357256401
+        ],
+        [
+            -0.45401216576558934,
+            11.881854556976677,
+            1.0881087291388158
+        ],
+        [
+            -0.6662428843219397,
+            14.050841791942126,
+            1.4380330211206904
+        ],
+        [
+            -0.9240078247204719,
+            16.188006502588102,
+            1.7696373041461153
+        ],
+        [
+            -1.0901853676226887,
+            18.212447386582483,
+            2.0226666699341136
+        ],
+        [
+            -1.220308559291774,
+            20.483681991619115,
+            2.600238118258827
+        ],
+        [
+            -1.2635009126211534,
+            22.778044341539562,
+            2.902025690936058
+        ],
+        [
+            -1.379514412603192,
+            24.817652544853473,
+            3.151299559611636
+        ],
+        [
+            -1.410482207064807,
+            26.992426804787108,
+            3.3312745162148594
+        ],
+        [
+            -1.2146882290630208,
+            29.02709085687674,
+            2.9281021369979094
+        ],
+        [
+            -0.5967189535545279,
+            31.280860522431034,
+            3.7042721520119146
+        ],
+        [
+            -0.00685183464011363,
+            33.468685248429956,
+            3.1730949401990887
+        ],
+        [
+            1.1619755804029017,
+            35.62836712694338,
+            2.704069659998194
+        ],
+        [
+            3.544235233533377,
+            37.93380309051823,
+            2.2921349342522213
+        ],
+        [
+            8.581095258519642,
+            39.987041189287474,
+            1.863382738107542
+        ],
+        [
+            15.988280767259436,
+            41.99192063583781,
+            1.6778404863178364
+        ],
+        [
+            23.05341673435574,
+            44.111831033131814,
+            1.2177069275982104
+        ],
+        [
+            30.250710283495668,
+            46.147637608519325,
+            0.754980289801257
+        ],
+        [
+            37.02921809110827,
+            48.18461065757531,
+            0.6820256530082133
+        ],
+        [
+            44.169848409303164,
+            50.24328650588526,
+            0.439849893325287
+        ],
+        [
+            52.01251946091916,
+            52.37189779226032,
+            0.023851083717385757
+        ],
+        [
+            55.319465155239094,
+            54.45422957604992,
+            -0.11620865583511253
+        ],
+        [
+            56.93251594438478,
+            56.79854772411189,
+            -0.005927954505490662
+        ],
+        [
+            57.63010262500625,
+            59.159644670306385,
+            0.08161661249598984
+        ],
+        [
+            57.701593406180585,
+            61.246204001451325,
+            0.0662559307035051
+        ],
+        [
+            57.71516747766311,
+            63.27900465530997,
+            0.14336643720719922
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -6.154009233026637,
+            -30.6883056707915,
+            1.1600566220681607
+        ],
+        [
+            -5.092488962636664,
+            -28.583359948055506,
+            1.0485465407317593
+        ],
+        [
+            -4.2618100849893645,
+            -26.53627819806242,
+            0.9515063528307284
+        ],
+        [
+            -3.5152093006732335,
+            -24.485808393904897,
+            0.908711928080143
+        ],
+        [
+            -2.8783487804258945,
+            -22.370840377461708,
+            0.8576785206820685
+        ],
+        [
+            -2.279655322614844,
+            -20.34032151341979,
+            0.8882482549985808
+        ],
+        [
+            -1.7402616360415406,
+            -18.32092227164717,
+            0.66132463697034
+        ],
+        [
+            -1.1149750497213597,
+            -16.086530740782322,
+            0.4758221503360742
+        ],
+        [
+            -0.5904144356659868,
+            -14.058102256858337,
+            0.46674826617925647
+        ],
+        [
+            -0.1173708367196058,
+            -11.994907070964004,
+            0.28684115345912575
+        ],
+        [
+            0.35001428974301074,
+            -9.503714084155153,
+            0.2398662478615914
+        ],
+        [
+            0.6466674831207646,
+            -7.22551804634351,
+            0.09937600670895219
+        ],
+        [
+            0.8160077084562536,
+            -5.2254428551706695,
+            0.023103532530760473
+        ],
+        [
+            0.9287144142898596,
+            -3.149617478714802,
+            -0.036386362989292875
+        ],
+        [
+            0.8993094883373862,
+            -1.0512404476654353,
+            -0.03809033575826826
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354871888.json

@@ -0,0 +1,460 @@
+{
+    "timestamp": {
+        "sec": 1754654459,
+        "nsec": 227795000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.0894788615477431,
+            1.4321644256773638,
+            0.022733771120920343
+        ],
+        [
+            -0.2923347788092201,
+            3.5118443578160665,
+            0.16162896405983562
+        ],
+        [
+            -0.5635112314778894,
+            5.614005662259736,
+            0.1694732674521311
+        ],
+        [
+            -0.8180455915431608,
+            7.877776356602922,
+            0.37411484339689194
+        ],
+        [
+            -1.0897977266569008,
+            9.89842639807992,
+            0.7543995116575772
+        ],
+        [
+            -1.2567582399067128,
+            12.157661592892033,
+            1.2127642644032477
+        ],
+        [
+            -1.4853198475127432,
+            14.3341786752693,
+            1.528852129319833
+        ],
+        [
+            -1.7239197168574307,
+            16.401380174726967,
+            1.8796240627148397
+        ],
+        [
+            -1.911040776781734,
+            18.43844625441885,
+            2.2053499769610894
+        ],
+        [
+            -1.8963166411258534,
+            20.740344662323025,
+            2.716185017848511
+        ],
+        [
+            -1.9827209698888115,
+            22.758171616642734,
+            2.682165105799185
+        ],
+        [
+            -2.1692739579252844,
+            24.937581646305688,
+            2.982379775074617
+        ],
+        [
+            -2.0404257370766423,
+            27.070456585264402,
+            3.527589327006717
+        ],
+        [
+            -1.667586378599598,
+            29.466291014517637,
+            3.4437279205717632
+        ],
+        [
+            -1.2814281327320458,
+            31.81357335139915,
+            2.990470376401171
+        ],
+        [
+            -0.42471548878929966,
+            33.955159867307025,
+            2.9988313916062452
+        ],
+        [
+            1.0221069770655973,
+            36.2177852867131,
+            2.7077684687373003
+        ],
+        [
+            4.221177727453163,
+            38.526554843911036,
+            2.0544572691840144
+        ],
+        [
+            11.079856177140435,
+            40.534976251675225,
+            1.881539333055647
+        ],
+        [
+            18.45778509730362,
+            42.595343490898635,
+            1.774860588796994
+        ],
+        [
+            25.280755106984245,
+            44.611074898861354,
+            0.9932248715825227
+        ],
+        [
+            32.5980647711142,
+            46.72782696157211,
+            0.8384375662948926
+        ],
+        [
+            39.62699311464495,
+            48.79238648009953,
+            0.44974653462581005
+        ],
+        [
+            47.66923855884886,
+            50.865971779598404,
+            0.14038596996138963
+        ],
+        [
+            53.40000554941808,
+            52.90712701328575,
+            -0.29014567740847985
+        ],
+        [
+            55.744767908272664,
+            55.19126712328411,
+            -0.38244050843054533
+        ],
+        [
+            56.64751687648561,
+            57.204365678595856,
+            -0.15581122670113046
+        ],
+        [
+            57.0746741446372,
+            59.36110659537673,
+            -0.26524262860387693
+        ],
+        [
+            57.207360762209305,
+            61.4854437939154,
+            -0.24289081419902492
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -7.043668800751462,
+            -30.63514804589273,
+            1.2135381987565457
+        ],
+        [
+            -6.080360616827408,
+            -28.62149473473556,
+            1.2469961615113039
+        ],
+        [
+            -5.170154934143181,
+            -26.444224859644287,
+            1.107120570176056
+        ],
+        [
+            -4.3814670177365365,
+            -24.288323368131593,
+            1.063383843989853
+        ],
+        [
+            -3.7012441329920023,
+            -22.12234794178998,
+            1.0321316192995071
+        ],
+        [
+            -3.099715761149513,
+            -20.01943990530792,
+            0.73067512314512
+        ],
+        [
+            -2.455944392244186,
+            -17.857337188310495,
+            0.7102827485623653
+        ],
+        [
+            -1.945468820795078,
+            -15.826731338669777,
+            0.6285592822407317
+        ],
+        [
+            -1.289022160414186,
+            -13.392668366880834,
+            0.2998637380136491
+        ],
+        [
+            -0.814406650011513,
+            -11.18649869169494,
+            0.30562906214935426
+        ],
+        [
+            -0.48023641303164055,
+            -9.136045689144904,
+            0.28251682575071513
+        ],
+        [
+            -0.2063296455462904,
+            -6.935841712123594,
+            0.12676069782522603
+        ],
+        [
+            -0.030750116793537785,
+            -4.808183399800942,
+            0.02534799163276147
+        ],
+        [
+            0.05188813987627583,
+            -2.7144139477392955,
+            -0.028823192285177157
+        ],
+        [
+            0.028134796831217557,
+            -0.585646094126659,
+            0.11992209057320591
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.4768350486196056,
+            1.4321644256773638,
+            0.022733771120920343
+        ],
+        [
+            1.2739791313581286,
+            3.5118443578160665,
+            0.16162896405983562
+        ],
+        [
+            1.0028026786894593,
+            5.614005662259736,
+            0.1694732674521311
+        ],
+        [
+            0.7482683186241879,
+            7.877776356602922,
+            0.37411484339689194
+        ],
+        [
+            0.4765161835104479,
+            9.89842639807992,
+            0.7543995116575772
+        ],
+        [
+            0.3095556702606359,
+            12.157661592892033,
+            1.2127642644032477
+        ],
+        [
+            0.08099406265460551,
+            14.3341786752693,
+            1.528852129319833
+        ],
+        [
+            -0.15760580669008206,
+            16.401380174726967,
+            1.8796240627148397
+        ],
+        [
+            -0.34472686661438523,
+            18.43844625441885,
+            2.2053499769610894
+        ],
+        [
+            -0.33000273095850474,
+            20.740344662323025,
+            2.716185017848511
+        ],
+        [
+            -0.41640705972146286,
+            22.758171616642734,
+            2.682165105799185
+        ],
+        [
+            -0.6029600477579358,
+            24.937581646305688,
+            2.982379775074617
+        ],
+        [
+            -0.47411182690929365,
+            27.070456585264402,
+            3.527589327006717
+        ],
+        [
+            -0.10127246843224924,
+            29.466291014517637,
+            3.4437279205717632
+        ],
+        [
+            0.28488577743530286,
+            31.81357335139915,
+            2.990470376401171
+        ],
+        [
+            1.141598421378049,
+            33.955159867307025,
+            2.9988313916062452
+        ],
+        [
+            2.588420887232946,
+            36.2177852867131,
+            2.7077684687373003
+        ],
+        [
+            5.787491637620512,
+            38.526554843911036,
+            2.0544572691840144
+        ],
+        [
+            12.646170087307784,
+            40.534976251675225,
+            1.881539333055647
+        ],
+        [
+            20.02409900747097,
+            42.595343490898635,
+            1.774860588796994
+        ],
+        [
+            26.847069017151593,
+            44.611074898861354,
+            0.9932248715825227
+        ],
+        [
+            34.16437868128155,
+            46.72782696157211,
+            0.8384375662948926
+        ],
+        [
+            41.1933070248123,
+            48.79238648009953,
+            0.44974653462581005
+        ],
+        [
+            49.23555246901621,
+            50.865971779598404,
+            0.14038596996138963
+        ],
+        [
+            54.966319459585435,
+            52.90712701328575,
+            -0.29014567740847985
+        ],
+        [
+            57.311081818440016,
+            55.19126712328411,
+            -0.38244050843054533
+        ],
+        [
+            58.21383078665296,
+            57.204365678595856,
+            -0.15581122670113046
+        ],
+        [
+            58.64098805480455,
+            59.36110659537673,
+            -0.26524262860387693
+        ],
+        [
+            58.77367467237666,
+            61.4854437939154,
+            -0.24289081419902492
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -5.477354890584113,
+            -30.63514804589273,
+            1.2135381987565457
+        ],
+        [
+            -4.514046706660059,
+            -28.62149473473556,
+            1.2469961615113039
+        ],
+        [
+            -3.603841023975832,
+            -26.444224859644287,
+            1.107120570176056
+        ],
+        [
+            -2.815153107569188,
+            -24.288323368131593,
+            1.063383843989853
+        ],
+        [
+            -2.1349302228246536,
+            -22.12234794178998,
+            1.0321316192995071
+        ],
+        [
+            -1.5334018509821643,
+            -20.01943990530792,
+            0.73067512314512
+        ],
+        [
+            -0.8896304820768375,
+            -17.857337188310495,
+            0.7102827485623653
+        ],
+        [
+            -0.37915491062772944,
+            -15.826731338669777,
+            0.6285592822407317
+        ],
+        [
+            0.2772917497531626,
+            -13.392668366880834,
+            0.2998637380136491
+        ],
+        [
+            0.7519072601558356,
+            -11.18649869169494,
+            0.30562906214935426
+        ],
+        [
+            1.0860774971357081,
+            -9.136045689144904,
+            0.28251682575071513
+        ],
+        [
+            1.3599842646210583,
+            -6.935841712123594,
+            0.12676069782522603
+        ],
+        [
+            1.5355637933738109,
+            -4.808183399800942,
+            0.02534799163276147
+        ],
+        [
+            1.6182020500436245,
+            -2.7144139477392955,
+            -0.028823192285177157
+        ],
+        [
+            1.5944487069985662,
+            -0.585646094126659,
+            0.11992209057320591
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354872073.json

@@ -0,0 +1,460 @@
+{
+    "timestamp": {
+        "sec": 1754654473,
+        "nsec": 85865000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.08048514099096948,
+            0.9248137981143216,
+            -0.057012912344779565
+        ],
+        [
+            -0.258216209053554,
+            3.0064623865108757,
+            0.08672935632356404
+        ],
+        [
+            -0.5034275460716415,
+            5.1117880930856785,
+            0.09919614865886817
+        ],
+        [
+            -0.73083719446009,
+            7.377974978993095,
+            0.3089710794468282
+        ],
+        [
+            -0.9792133113464594,
+            9.400801110177227,
+            0.6936475532961193
+        ],
+        [
+            -1.1201903308267198,
+            11.660687168438137,
+            1.1574990475034337
+        ],
+        [
+            -1.32318096284029,
+            13.83900638225547,
+            1.4785890079942678
+        ],
+        [
+            -1.5377070759688518,
+            15.90804961350144,
+            1.8340204926578971
+        ],
+        [
+            -1.701024757525941,
+            17.94639053149843,
+            2.164540555921864
+        ],
+        [
+            -1.6600283408088998,
+            20.246548158164558,
+            2.681744293134813
+        ],
+        [
+            -1.7213475817286596,
+            22.265373641792635,
+            2.652894728651879
+        ],
+        [
+            -1.8822300116216173,
+            24.446108713300298,
+            2.958296650776192
+        ],
+        [
+            -1.729353791907478,
+            26.575752452208285,
+            3.5098918207586083
+        ],
+        [
+            -1.3265860087813692,
+            28.967009309798698,
+            3.434173335456226
+        ],
+        [
+            -0.9095313826285327,
+            31.31054700898116,
+            2.9889863494042306
+        ],
+        [
+            -0.026464944387836198,
+            33.441343692249916,
+            3.006830850204458
+        ],
+        [
+            1.4494283690295688,
+            35.68667665752008,
+            2.7280738524540036
+        ],
+        [
+            4.679529227870635,
+            37.957452871148405,
+            2.09458361020467
+        ],
+        [
+            11.975003497967869,
+            40.03492417709825,
+            2.2471309078348245
+        ],
+        [
+            19.561839891745933,
+            42.0800480334366,
+            1.2676162025085023
+        ],
+        [
+            27.202755134725102,
+            44.143081258401196,
+            1.153131715587001
+        ],
+        [
+            34.69493613614515,
+            46.23489891632677,
+            0.7851406364337666
+        ],
+        [
+            42.471391926059866,
+            48.26659042933859,
+            0.2706988466707225
+        ],
+        [
+            50.801375419170604,
+            50.376025470692426,
+            -0.054144611748146554
+        ],
+        [
+            55.188702517035274,
+            52.56109215300836,
+            0.19603448896598175
+        ],
+        [
+            56.69734945621067,
+            54.56719502772633,
+            0.14012591929185558
+        ],
+        [
+            57.64070372576706,
+            56.72315531461156,
+            -0.0366982653025707
+        ],
+        [
+            57.91808848709736,
+            58.9538395996759,
+            0.0647328269014813
+        ],
+        [
+            57.97480289188746,
+            61.11373618762498,
+            0.11590761093882684
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -7.435378090207056,
+            -31.057124352426964,
+            1.016525109915018
+        ],
+        [
+            -6.447412614210556,
+            -29.05563651245257,
+            1.0595645650074161
+        ],
+        [
+            -5.509787142532959,
+            -26.889422132939945,
+            0.9294976142624448
+        ],
+        [
+            -4.694341455097788,
+            -24.74333013716431,
+            0.8949976385936762
+        ],
+        [
+            -3.9872800903287473,
+            -22.58585710900143,
+            0.8725525679848549
+        ],
+        [
+            -3.3585381072642164,
+            -20.48974620803091,
+            0.5794020594220605
+        ],
+        [
+            -2.688019127281537,
+            -18.335723963956305,
+            0.5676524753520318
+        ],
+        [
+            -2.152148896233573,
+            -16.31137445998769,
+            0.49365023317231294
+        ],
+        [
+            -1.4642857089838675,
+            -13.88474109793616,
+            0.17440065813862793
+        ],
+        [
+            -0.9624747414034474,
+            -11.68463368392528,
+            0.188216483027271
+        ],
+        [
+            -0.602898507290405,
+            -9.63841575921996,
+            0.17213621882822094
+        ],
+        [
+            -0.3011667951144723,
+            -7.441356672995504,
+            0.02357049375353837
+        ],
+        [
+            -0.09888116184091089,
+            -5.315767530900072,
+            -0.07126580450364339
+        ],
+        [
+            0.00985172651142463,
+            -3.2230421325570653,
+            -0.1193457705984291
+        ],
+        [
+            0.011772658071439679,
+            -1.0945511875594036,
+            0.03513582098417101
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.07229303479406024,
+            0.9248137981143216,
+            -0.057012912344779565
+        ],
+        [
+            -0.1054380332685243,
+            3.0064623865108757,
+            0.08672935632356404
+        ],
+        [
+            -0.3506493702866118,
+            5.1117880930856785,
+            0.09919614865886817
+        ],
+        [
+            -0.5780590186750603,
+            7.377974978993095,
+            0.3089710794468282
+        ],
+        [
+            -0.8264351355614297,
+            9.400801110177227,
+            0.6936475532961193
+        ],
+        [
+            -0.9674121550416901,
+            11.660687168438137,
+            1.1574990475034337
+        ],
+        [
+            -1.1704027870552602,
+            13.83900638225547,
+            1.4785890079942678
+        ],
+        [
+            -1.384928900183822,
+            15.90804961350144,
+            1.8340204926578971
+        ],
+        [
+            -1.5482465817409112,
+            17.94639053149843,
+            2.164540555921864
+        ],
+        [
+            -1.50725016502387,
+            20.246548158164558,
+            2.681744293134813
+        ],
+        [
+            -1.56856940594363,
+            22.265373641792635,
+            2.652894728651879
+        ],
+        [
+            -1.7294518358365876,
+            24.446108713300298,
+            2.958296650776192
+        ],
+        [
+            -1.5765756161224482,
+            26.575752452208285,
+            3.5098918207586083
+        ],
+        [
+            -1.1738078329963395,
+            28.967009309798698,
+            3.434173335456226
+        ],
+        [
+            -0.756753206843503,
+            31.31054700898116,
+            2.9889863494042306
+        ],
+        [
+            0.12631323139719353,
+            33.441343692249916,
+            3.006830850204458
+        ],
+        [
+            1.6022065448145986,
+            35.68667665752008,
+            2.7280738524540036
+        ],
+        [
+            4.832307403655665,
+            37.957452871148405,
+            2.09458361020467
+        ],
+        [
+            12.1277816737529,
+            40.03492417709825,
+            2.2471309078348245
+        ],
+        [
+            19.714618067530964,
+            42.0800480334366,
+            1.2676162025085023
+        ],
+        [
+            27.355533310510133,
+            44.143081258401196,
+            1.153131715587001
+        ],
+        [
+            34.84771431193018,
+            46.23489891632677,
+            0.7851406364337666
+        ],
+        [
+            42.624170101844896,
+            48.26659042933859,
+            0.2706988466707225
+        ],
+        [
+            50.954153594955635,
+            50.376025470692426,
+            -0.054144611748146554
+        ],
+        [
+            55.341480692820305,
+            52.56109215300836,
+            0.19603448896598175
+        ],
+        [
+            56.8501276319957,
+            54.56719502772633,
+            0.14012591929185558
+        ],
+        [
+            57.79348190155209,
+            56.72315531461156,
+            -0.0366982653025707
+        ],
+        [
+            58.07086666288239,
+            58.9538395996759,
+            0.0647328269014813
+        ],
+        [
+            58.12758106767249,
+            61.11373618762498,
+            0.11590761093882684
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -7.282599914422026,
+            -31.057124352426964,
+            1.016525109915018
+        ],
+        [
+            -6.294634438425526,
+            -29.05563651245257,
+            1.0595645650074161
+        ],
+        [
+            -5.357008966747929,
+            -26.889422132939945,
+            0.9294976142624448
+        ],
+        [
+            -4.541563279312759,
+            -24.74333013716431,
+            0.8949976385936762
+        ],
+        [
+            -3.8345019145437176,
+            -22.58585710900143,
+            0.8725525679848549
+        ],
+        [
+            -3.2057599314791867,
+            -20.48974620803091,
+            0.5794020594220605
+        ],
+        [
+            -2.5352409514965073,
+            -18.335723963956305,
+            0.5676524753520318
+        ],
+        [
+            -1.9993707204485434,
+            -16.31137445998769,
+            0.49365023317231294
+        ],
+        [
+            -1.3115075331988377,
+            -13.88474109793616,
+            0.17440065813862793
+        ],
+        [
+            -0.8096965656184176,
+            -11.68463368392528,
+            0.188216483027271
+        ],
+        [
+            -0.4501203315053752,
+            -9.63841575921996,
+            0.17213621882822094
+        ],
+        [
+            -0.14838861932944258,
+            -7.441356672995504,
+            0.02357049375353837
+        ],
+        [
+            0.05389701394411883,
+            -5.315767530900072,
+            -0.07126580450364339
+        ],
+        [
+            0.16262990229645435,
+            -3.2230421325570653,
+            -0.1193457705984291
+        ],
+        [
+            0.1645508338564694,
+            -1.0945511875594036,
+            0.03513582098417101
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354872199.json

@@ -0,0 +1,460 @@
+{
+    "timestamp": {
+        "sec": 1754654486,
+        "nsec": 131308000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.10758524613873632,
+            1.6316487769461077,
+            -0.02784300625891656
+        ],
+        [
+            -0.3406207160877699,
+            3.818489753604389,
+            0.052992664096744635
+        ],
+        [
+            -0.5689298067862332,
+            5.838363743006511,
+            0.19192257549896552
+        ],
+        [
+            -0.7695058754595863,
+            7.894634537876868,
+            0.4795265791232717
+        ],
+        [
+            -0.9312123279547464,
+            10.03638203721247,
+            0.79072635060802
+        ],
+        [
+            -1.1102455467200514,
+            12.302442842869532,
+            1.3968028318547376
+        ],
+        [
+            -1.306177794407958,
+            14.538184521259375,
+            1.8049740168402701
+        ],
+        [
+            -1.4568654855169498,
+            16.557841278620998,
+            2.100226032252165
+        ],
+        [
+            -1.4851849295360928,
+            18.580999313079147,
+            2.5318827477621593
+        ],
+        [
+            -1.6396623005300928,
+            20.78121163965099,
+            2.8030887923152275
+        ],
+        [
+            -1.650034782973556,
+            23.08012633860396,
+            2.9168059026501325
+        ],
+        [
+            -1.517361383944941,
+            25.366079052801425,
+            3.128692894899369
+        ],
+        [
+            -1.249070494469347,
+            27.432259274465274,
+            3.5059462404385764
+        ],
+        [
+            -1.0056609389525342,
+            29.51248249724088,
+            2.9306774132819444
+        ],
+        [
+            -0.32303317033141,
+            31.675805789481345,
+            3.1960693262544004
+        ],
+        [
+            0.7947557543884685,
+            33.99860319591116,
+            2.9806801240399894
+        ],
+        [
+            2.7377666632759166,
+            36.149700556566785,
+            2.6627187792103775
+        ],
+        [
+            7.5839542472058135,
+            38.25678133294379,
+            2.2560029905826022
+        ],
+        [
+            15.508937143025527,
+            40.259973419371434,
+            2.209930591778962
+        ],
+        [
+            22.613399698482283,
+            42.283959997310845,
+            1.478941569802539
+        ],
+        [
+            30.530237541957227,
+            44.29745890139647,
+            0.9430009909973127
+        ],
+        [
+            37.79020810004805,
+            46.325613454421216,
+            0.9439916076382824
+        ],
+        [
+            45.992880856454214,
+            48.35792258206432,
+            0.6657383870936247
+        ],
+        [
+            53.433768467321755,
+            50.36370246518791,
+            0.2750481477211719
+        ],
+        [
+            56.1770083811512,
+            52.458381107666995,
+            0.5074778106322928
+        ],
+        [
+            57.71106364201981,
+            54.69492396694203,
+            0.1819204942267888
+        ],
+        [
+            58.23098572672096,
+            56.83889868554229,
+            0.42907438931839204
+        ],
+        [
+            58.38125898428797,
+            58.858660097625275,
+            0.42524809623493365
+        ],
+        [
+            58.447382819518936,
+            60.86480179579496,
+            0.4754432740536402
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -7.3526494046638184,
+            -31.067279921133576,
+            0.8457840352296757
+        ],
+        [
+            -6.236953488596605,
+            -28.72314743964308,
+            0.7634961349883642
+        ],
+        [
+            -5.368226010834208,
+            -26.508429201686955,
+            0.7773682549098151
+        ],
+        [
+            -4.581753813013259,
+            -24.3817894295496,
+            0.8069186983630054
+        ],
+        [
+            -3.8915820712128575,
+            -22.368033107849136,
+            0.5243224529587006
+        ],
+        [
+            -3.294852513732451,
+            -20.307777738835444,
+            0.6557193420028667
+        ],
+        [
+            -2.6427408690377963,
+            -18.155986545342017,
+            0.5088262749821241
+        ],
+        [
+            -2.0131285068586546,
+            -16.04865570500595,
+            0.271248202974837
+        ],
+        [
+            -1.463196734909321,
+            -13.845343401032771,
+            0.1680201424774329
+        ],
+        [
+            -0.9544358391247769,
+            -11.618284862733894,
+            0.06680639530549959
+        ],
+        [
+            -0.5031686799924842,
+            -9.36766457129293,
+            0.027665104896871684
+        ],
+        [
+            -0.1802379555284972,
+            -6.8620060151284825,
+            0.022497200770190018
+        ],
+        [
+            -0.013443538114888298,
+            -4.624875707085238,
+            -0.022853978927668717
+        ],
+        [
+            0.05809470421118945,
+            -2.523879221308807,
+            -0.18668499452903076
+        ],
+        [
+            0.014279029802143128,
+            -0.42808089610540634,
+            -0.017879112715924128
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            2.4291209441169466,
+            1.6316487769461077,
+            -0.02784300625891656
+        ],
+        [
+            2.196085474167913,
+            3.818489753604389,
+            0.052992664096744635
+        ],
+        [
+            1.9677763834694497,
+            5.838363743006511,
+            0.19192257549896552
+        ],
+        [
+            1.7672003147960966,
+            7.894634537876868,
+            0.4795265791232717
+        ],
+        [
+            1.6054938623009365,
+            10.03638203721247,
+            0.79072635060802
+        ],
+        [
+            1.4264606435356315,
+            12.302442842869532,
+            1.3968028318547376
+        ],
+        [
+            1.2305283958477249,
+            14.538184521259375,
+            1.8049740168402701
+        ],
+        [
+            1.079840704738733,
+            16.557841278620998,
+            2.100226032252165
+        ],
+        [
+            1.05152126071959,
+            18.580999313079147,
+            2.5318827477621593
+        ],
+        [
+            0.8970438897255901,
+            20.78121163965099,
+            2.8030887923152275
+        ],
+        [
+            0.8866714072821269,
+            23.08012633860396,
+            2.9168059026501325
+        ],
+        [
+            1.019344806310742,
+            25.366079052801425,
+            3.128692894899369
+        ],
+        [
+            1.287635695786336,
+            27.432259274465274,
+            3.5059462404385764
+        ],
+        [
+            1.5310452513031487,
+            29.51248249724088,
+            2.9306774132819444
+        ],
+        [
+            2.213673019924273,
+            31.675805789481345,
+            3.1960693262544004
+        ],
+        [
+            3.3314619446441514,
+            33.99860319591116,
+            2.9806801240399894
+        ],
+        [
+            5.2744728535315994,
+            36.149700556566785,
+            2.6627187792103775
+        ],
+        [
+            10.120660437461495,
+            38.25678133294379,
+            2.2560029905826022
+        ],
+        [
+            18.04564333328121,
+            40.259973419371434,
+            2.209930591778962
+        ],
+        [
+            25.150105888737965,
+            42.283959997310845,
+            1.478941569802539
+        ],
+        [
+            33.06694373221291,
+            44.29745890139647,
+            0.9430009909973127
+        ],
+        [
+            40.32691429030373,
+            46.325613454421216,
+            0.9439916076382824
+        ],
+        [
+            48.5295870467099,
+            48.35792258206432,
+            0.6657383870936247
+        ],
+        [
+            55.97047465757744,
+            50.36370246518791,
+            0.2750481477211719
+        ],
+        [
+            58.71371457140688,
+            52.458381107666995,
+            0.5074778106322928
+        ],
+        [
+            60.247769832275495,
+            54.69492396694203,
+            0.1819204942267888
+        ],
+        [
+            60.767691916976645,
+            56.83889868554229,
+            0.42907438931839204
+        ],
+        [
+            60.91796517454365,
+            58.858660097625275,
+            0.42524809623493365
+        ],
+        [
+            60.98408900977462,
+            60.86480179579496,
+            0.4754432740536402
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -4.8159432144081356,
+            -31.067279921133576,
+            0.8457840352296757
+        ],
+        [
+            -3.700247298340922,
+            -28.72314743964308,
+            0.7634961349883642
+        ],
+        [
+            -2.8315198205785252,
+            -26.508429201686955,
+            0.7773682549098151
+        ],
+        [
+            -2.0450476227575765,
+            -24.3817894295496,
+            0.8069186983630054
+        ],
+        [
+            -1.3548758809571746,
+            -22.368033107849136,
+            0.5243224529587006
+        ],
+        [
+            -0.758146323476768,
+            -20.307777738835444,
+            0.6557193420028667
+        ],
+        [
+            -0.10603467878211337,
+            -18.155986545342017,
+            0.5088262749821241
+        ],
+        [
+            0.5235776833970283,
+            -16.04865570500595,
+            0.271248202974837
+        ],
+        [
+            1.073509455346362,
+            -13.845343401032771,
+            0.1680201424774329
+        ],
+        [
+            1.582270351130906,
+            -11.618284862733894,
+            0.06680639530549959
+        ],
+        [
+            2.0335375102631987,
+            -9.36766457129293,
+            0.027665104896871684
+        ],
+        [
+            2.3564682347271857,
+            -6.8620060151284825,
+            0.022497200770190018
+        ],
+        [
+            2.5232626521407946,
+            -4.624875707085238,
+            -0.022853978927668717
+        ],
+        [
+            2.5948008944668723,
+            -2.523879221308807,
+            -0.18668499452903076
+        ],
+        [
+            2.550985220057826,
+            -0.42808089610540634,
+            -0.017879112715924128
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354872375.json

@@ -0,0 +1,450 @@
+{
+    "timestamp": {
+        "sec": 1754654508,
+        "nsec": 899733000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.035349316917940854,
+            1.1351158204756828,
+            0.03935694561646219
+        ],
+        [
+            -0.24369444593027367,
+            3.3248679042050426,
+            0.10785155903773735
+        ],
+        [
+            -0.44801890415767787,
+            5.348045411647469,
+            0.2356082942423574
+        ],
+        [
+            -0.6215093842392108,
+            7.408416925289238,
+            0.511228836213685
+        ],
+        [
+            -0.7548017946422583,
+            9.554015182864127,
+            0.8090842976066104
+        ],
+        [
+            -0.8987024347342505,
+            11.82627934718436,
+            1.4011327270481326
+        ],
+        [
+            -1.0634423784070783,
+            14.06694694769336,
+            1.7958522089766544
+        ],
+        [
+            -1.1873033682547103,
+            16.090228868701168,
+            2.0784874398483755
+        ],
+        [
+            -1.1862892923827673,
+            18.116706353191248,
+            2.4952438673355575
+        ],
+        [
+            -1.312467252692322,
+            20.32039163529862,
+            2.752538559285229
+        ],
+        [
+            -1.2964104000328938,
+            22.62006231850723,
+            2.849000411385214
+        ],
+        [
+            -1.135679766675242,
+            24.905962584625158,
+            3.041103968622819
+        ],
+        [
+            -0.8386620406275185,
+            26.97187530234916,
+            3.397735304389477
+        ],
+        [
+            -0.5838088373946455,
+            29.04506357184119,
+            2.802377146779625
+        ],
+        [
+            0.12643402382538582,
+            31.2028407630006,
+            3.038880584623895
+        ],
+        [
+            1.2646280431650396,
+            33.5118608164614,
+            2.785556391090589
+        ],
+        [
+            3.224163440767086,
+            35.639586230537,
+            2.415940033602849
+        ],
+        [
+            8.084135252024215,
+            37.69150236988208,
+            1.9050042446682218
+        ],
+        [
+            16.450267957495253,
+            39.756480142365554,
+            1.5949202868502173
+        ],
+        [
+            24.124385654663126,
+            41.78492678324468,
+            0.7321792351232643
+        ],
+        [
+            32.41236509616162,
+            43.82561463170044,
+            0.17456462029654563
+        ],
+        [
+            40.26150418549366,
+            45.862860640700085,
+            -0.00806681550398003
+        ],
+        [
+            48.961978309126664,
+            47.89810395297037,
+            -0.6790140235529882
+        ],
+        [
+            55.28958602287413,
+            50.05230415125158,
+            -1.0388536587777553
+        ],
+        [
+            57.418729612383714,
+            52.05306226069657,
+            -1.1120253530622366
+        ],
+        [
+            58.656143275690326,
+            54.559751433593654,
+            -1.0124210562389873
+        ],
+        [
+            58.99486794882114,
+            56.624159464588125,
+            -1.0374625639585469
+        ],
+        [
+            59.095729896007654,
+            58.773147857484396,
+            -1.0079119053726513
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -7.60907769106557,
+            -31.476875054570097,
+            1.2926751619628234
+        ],
+        [
+            -6.470313640467934,
+            -29.1455165026238,
+            1.172302798991486
+        ],
+        [
+            -5.5780729063656995,
+            -26.940202082275952,
+            1.1535539408785147
+        ],
+        [
+            -4.768714778115596,
+            -24.821960579289527,
+            1.1526471049976432
+        ],
+        [
+            -4.0625453423518785,
+            -22.817864784192047,
+            0.8422651365285726
+        ],
+        [
+            -3.441725954066575,
+            -20.76321476562702,
+            0.9471464080254622
+        ],
+        [
+            -2.7696620621374173,
+            -18.619685556128047,
+            0.7720888064460651
+        ],
+        [
+            -2.1222233869117613,
+            -16.521041182052354,
+            0.5071109007227748
+        ],
+        [
+            -1.550971552241208,
+            -14.324576782778433,
+            0.3771817691903252
+        ],
+        [
+            -1.0205930401547327,
+            -12.103911667891673,
+            0.24983701606750874
+        ],
+        [
+            -0.5463095519348897,
+            -9.858611762817912,
+            0.18542199569357076
+        ],
+        [
+            -0.1970110305621411,
+            -7.356667760817203,
+            0.15538012598669426
+        ],
+        [
+            -0.007393197191497336,
+            -5.121851134698332,
+            0.09004371013376744
+        ],
+        [
+            0.08337915907721793,
+            -3.0230098380650396,
+            -0.09098155306747802
+        ],
+        [
+            0.06485781067389595,
+            -0.9256728159347531,
+            0.06270720461818491
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            3.0868393166593773,
+            1.1351158204756828,
+            0.03935694561646219
+        ],
+        [
+            2.8784941876470445,
+            3.3248679042050426,
+            0.10785155903773735
+        ],
+        [
+            2.6741697294196403,
+            5.348045411647469,
+            0.2356082942423574
+        ],
+        [
+            2.5006792493381074,
+            7.408416925289238,
+            0.511228836213685
+        ],
+        [
+            2.36738683893506,
+            9.554015182864127,
+            0.8090842976066104
+        ],
+        [
+            2.2234861988430676,
+            11.82627934718436,
+            1.4011327270481326
+        ],
+        [
+            2.05874625517024,
+            14.06694694769336,
+            1.7958522089766544
+        ],
+        [
+            1.9348852653226079,
+            16.090228868701168,
+            2.0784874398483755
+        ],
+        [
+            1.9358993411945509,
+            18.116706353191248,
+            2.4952438673355575
+        ],
+        [
+            1.8097213808849961,
+            20.32039163529862,
+            2.752538559285229
+        ],
+        [
+            1.8257782335444244,
+            22.62006231850723,
+            2.849000411385214
+        ],
+        [
+            1.986508866902076,
+            24.905962584625158,
+            3.041103968622819
+        ],
+        [
+            2.2835265929497996,
+            26.97187530234916,
+            3.397735304389477
+        ],
+        [
+            2.5383797961826726,
+            29.04506357184119,
+            2.802377146779625
+        ],
+        [
+            3.248622657402704,
+            31.2028407630006,
+            3.038880584623895
+        ],
+        [
+            4.386816676742358,
+            33.5118608164614,
+            2.785556391090589
+        ],
+        [
+            6.346352074344404,
+            35.639586230537,
+            2.415940033602849
+        ],
+        [
+            11.206323885601533,
+            37.69150236988208,
+            1.9050042446682218
+        ],
+        [
+            19.572456591072573,
+            39.756480142365554,
+            1.5949202868502173
+        ],
+        [
+            27.246574288240446,
+            41.78492678324468,
+            0.7321792351232643
+        ],
+        [
+            35.53455372973894,
+            43.82561463170044,
+            0.17456462029654563
+        ],
+        [
+            43.38369281907098,
+            45.862860640700085,
+            -0.00806681550398003
+        ],
+        [
+            52.08416694270398,
+            47.89810395297037,
+            -0.6790140235529882
+        ],
+        [
+            58.41177465645145,
+            50.05230415125158,
+            -1.0388536587777553
+        ],
+        [
+            60.54091824596103,
+            52.05306226069657,
+            -1.1120253530622366
+        ],
+        [
+            61.77833190926764,
+            54.559751433593654,
+            -1.0124210562389873
+        ],
+        [
+            62.117056582398455,
+            56.624159464588125,
+            -1.0374625639585469
+        ],
+        [
+            62.21791852958497,
+            58.773147857484396,
+            -1.0079119053726513
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -4.486889057488252,
+            -31.476875054570097,
+            1.2926751619628234
+        ],
+        [
+            -3.3481250068906157,
+            -29.1455165026238,
+            1.172302798991486
+        ],
+        [
+            -2.4558842727883814,
+            -26.940202082275952,
+            1.1535539408785147
+        ],
+        [
+            -1.646526144538278,
+            -24.821960579289527,
+            1.1526471049976432
+        ],
+        [
+            -0.9403567087745603,
+            -22.817864784192047,
+            0.8422651365285726
+        ],
+        [
+            -0.31953732048925687,
+            -20.76321476562702,
+            0.9471464080254622
+        ],
+        [
+            0.35252657143990085,
+            -18.619685556128047,
+            0.7720888064460651
+        ],
+        [
+            0.9999652466655569,
+            -16.521041182052354,
+            0.5071109007227748
+        ],
+        [
+            1.5712170813361102,
+            -14.324576782778433,
+            0.3771817691903252
+        ],
+        [
+            2.1015955934225854,
+            -12.103911667891673,
+            0.24983701606750874
+        ],
+        [
+            2.5758790816424284,
+            -9.858611762817912,
+            0.18542199569357076
+        ],
+        [
+            2.925177603015177,
+            -7.356667760817203,
+            0.15538012598669426
+        ],
+        [
+            3.114795436385821,
+            -5.121851134698332,
+            0.09004371013376744
+        ],
+        [
+            3.205567792654536,
+            -3.0230098380650396,
+            -0.09098155306747802
+        ],
+        [
+            3.187046444251214,
+            -0.9256728159347531,
+            0.06270720461818491
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354872497.json

@@ -0,0 +1,450 @@
+{
+    "timestamp": {
+        "sec": 1754654518,
+        "nsec": 225636000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            0.019848014747729792,
+            0.8087158020257306,
+            -0.022207935348480534
+        ],
+        [
+            -0.17179671616394998,
+            3.0001395656675243,
+            0.041412645502583834
+        ],
+        [
+            -0.3600744888137477,
+            5.025145876709857,
+            0.16477558485551413
+        ],
+        [
+            -0.5158358493030839,
+            7.087570970848404,
+            0.43558462035482437
+        ],
+        [
+            -0.6305657262961653,
+            9.234992691429866,
+            0.7279775661676491
+        ],
+        [
+            -0.7521656657046982,
+            11.510054782944728,
+            1.3142531873262575
+        ],
+        [
+            -0.8967195711158453,
+            13.753070481308882,
+            1.7035072942388771
+        ],
+        [
+            -1.003059563285312,
+            15.778063829179942,
+            1.9809738643988486
+        ],
+        [
+            -0.9832290341865111,
+            17.80574528239027,
+            2.39135492849601
+        ],
+        [
+            -1.090807154288516,
+            20.0110757378419,
+            2.6429394850229486
+        ],
+        [
+            -1.0569943076998491,
+            22.31085075881748,
+            2.7320433959324144
+        ],
+        [
+            -0.8777054157326454,
+            24.59608512921652,
+            2.915448699577257
+        ],
+        [
+            -0.562178274988753,
+            26.660840756434034,
+            3.2627635708664315
+        ],
+        [
+            -0.2978525922400159,
+            28.73026766201977,
+            2.6585158504179023
+        ],
+        [
+            0.430394850442287,
+            30.883479742294668,
+            2.881483570724951
+        ],
+        [
+            1.582990944410092,
+            33.18328491406315,
+            2.6100967691830177
+        ],
+        [
+            3.554430882578462,
+            35.29540797366559,
+            2.2151646039047788
+        ],
+        [
+            8.424192329449962,
+            37.309971977677876,
+            1.6515188340856557
+        ],
+        [
+            16.801874884146446,
+            39.31244000989261,
+            1.255263234767129
+        ],
+        [
+            24.641641100456486,
+            41.3390904544855,
+            0.4146021277256511
+        ],
+        [
+            32.90709250876425,
+            43.354741244528014,
+            -0.22852039952031
+        ],
+        [
+            41.238450864751286,
+            45.40211886628299,
+            -0.9590922998806117
+        ],
+        [
+            50.60056284109163,
+            47.41407249542931,
+            -1.6236670677033154
+        ],
+        [
+            56.16826801094018,
+            49.6414592597699,
+            -1.6128075217078754
+        ],
+        [
+            58.13298568209143,
+            51.871147040279226,
+            -1.6732013957544034
+        ],
+        [
+            59.125579134230165,
+            54.000844619772764,
+            -1.8934178516444125
+        ],
+        [
+            59.46061328055899,
+            56.22475605130728,
+            -1.8216333310233879
+        ],
+        [
+            59.572221159920716,
+            58.38294884584646,
+            -1.794500403986621
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -7.780111050843857,
+            -31.742734376628807,
+            1.4053237499504414
+        ],
+        [
+            -6.625511493125032,
+            -29.420188648365986,
+            1.2668067189484074
+        ],
+        [
+            -5.717369469658301,
+            -27.22155992773558,
+            1.2326518671867734
+        ],
+        [
+            -4.89257108181315,
+            -25.109337523714647,
+            1.217400557404377
+        ],
+        [
+            -4.121076662858439,
+            -22.925532149382803,
+            0.9443591224057601
+        ],
+        [
+            -3.4183888122298356,
+            -20.615342045627813,
+            1.0555849492872336
+        ],
+        [
+            -2.723347474830879,
+            -18.430838007766912,
+            0.6522245278288434
+        ],
+        [
+            -2.038816899939441,
+            -16.227864677732033,
+            0.6397203486937699
+        ],
+        [
+            -1.472525577719665,
+            -14.1490290827096,
+            0.47880053112518484
+        ],
+        [
+            -0.9545691575331183,
+            -12.011077918829372,
+            0.28005505123512897
+        ],
+        [
+            -0.5136458753581117,
+            -9.798725689788913,
+            0.21144318322577527
+        ],
+        [
+            -0.20286165858586003,
+            -7.681255159243367,
+            0.12193698397998265
+        ],
+        [
+            0.002479334954209378,
+            -5.448103149972557,
+            0.04779993381104064
+        ],
+        [
+            0.10688149996585494,
+            -3.350549712922472,
+            -0.1406525049983396
+        ],
+        [
+            0.10518399783699905,
+            -1.252672604988554,
+            0.006638423023010098
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            2.5660900660552883,
+            0.8087158020257306,
+            -0.022207935348480534
+        ],
+        [
+            2.3744453351436086,
+            3.0001395656675243,
+            0.041412645502583834
+        ],
+        [
+            2.186167562493811,
+            5.025145876709857,
+            0.16477558485551413
+        ],
+        [
+            2.0304062020044746,
+            7.087570970848404,
+            0.43558462035482437
+        ],
+        [
+            1.9156763250113933,
+            9.234992691429866,
+            0.7279775661676491
+        ],
+        [
+            1.7940763856028603,
+            11.510054782944728,
+            1.3142531873262575
+        ],
+        [
+            1.6495224801917132,
+            13.753070481308882,
+            1.7035072942388771
+        ],
+        [
+            1.5431824880222464,
+            15.778063829179942,
+            1.9809738643988486
+        ],
+        [
+            1.5630130171210475,
+            17.80574528239027,
+            2.39135492849601
+        ],
+        [
+            1.4554348970190425,
+            20.0110757378419,
+            2.6429394850229486
+        ],
+        [
+            1.4892477436077094,
+            22.31085075881748,
+            2.7320433959324144
+        ],
+        [
+            1.6685366355749132,
+            24.59608512921652,
+            2.915448699577257
+        ],
+        [
+            1.9840637763188056,
+            26.660840756434034,
+            3.2627635708664315
+        ],
+        [
+            2.2483894590675426,
+            28.73026766201977,
+            2.6585158504179023
+        ],
+        [
+            2.9766369017498455,
+            30.883479742294668,
+            2.881483570724951
+        ],
+        [
+            4.129232995717651,
+            33.18328491406315,
+            2.6100967691830177
+        ],
+        [
+            6.10067293388602,
+            35.29540797366559,
+            2.2151646039047788
+        ],
+        [
+            10.97043438075752,
+            37.309971977677876,
+            1.6515188340856557
+        ],
+        [
+            19.348116935454005,
+            39.31244000989261,
+            1.255263234767129
+        ],
+        [
+            27.187883151764044,
+            41.3390904544855,
+            0.4146021277256511
+        ],
+        [
+            35.45333456007181,
+            43.354741244528014,
+            -0.22852039952031
+        ],
+        [
+            43.784692916058845,
+            45.40211886628299,
+            -0.9590922998806117
+        ],
+        [
+            53.14680489239919,
+            47.41407249542931,
+            -1.6236670677033154
+        ],
+        [
+            58.71451006224774,
+            49.6414592597699,
+            -1.6128075217078754
+        ],
+        [
+            60.67922773339899,
+            51.871147040279226,
+            -1.6732013957544034
+        ],
+        [
+            61.67182118553772,
+            54.000844619772764,
+            -1.8934178516444125
+        ],
+        [
+            62.00685533186655,
+            56.22475605130728,
+            -1.8216333310233879
+        ],
+        [
+            62.118463211228274,
+            58.38294884584646,
+            -1.794500403986621
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -5.233868999536298,
+            -31.742734376628807,
+            1.4053237499504414
+        ],
+        [
+            -4.079269441817473,
+            -29.420188648365986,
+            1.2668067189484074
+        ],
+        [
+            -3.1711274183507427,
+            -27.22155992773558,
+            1.2326518671867734
+        ],
+        [
+            -2.3463290305055917,
+            -25.109337523714647,
+            1.217400557404377
+        ],
+        [
+            -1.5748346115508802,
+            -22.925532149382803,
+            0.9443591224057601
+        ],
+        [
+            -0.872146760922277,
+            -20.615342045627813,
+            1.0555849492872336
+        ],
+        [
+            -0.17710542352332048,
+            -18.430838007766912,
+            0.6522245278288434
+        ],
+        [
+            0.5074251513681176,
+            -16.227864677732033,
+            0.6397203486937699
+        ],
+        [
+            1.0737164735878935,
+            -14.1490290827096,
+            0.47880053112518484
+        ],
+        [
+            1.5916728937744402,
+            -12.011077918829372,
+            0.28005505123512897
+        ],
+        [
+            2.032596175949447,
+            -9.798725689788913,
+            0.21144318322577527
+        ],
+        [
+            2.3433803927216985,
+            -7.681255159243367,
+            0.12193698397998265
+        ],
+        [
+            2.548721386261768,
+            -5.448103149972557,
+            0.04779993381104064
+        ],
+        [
+            2.6531235512734135,
+            -3.350549712922472,
+            -0.1406525049983396
+        ],
+        [
+            2.6514260491445576,
+            -1.252672604988554,
+            0.006638423023010098
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354872672.json

@@ -0,0 +1,450 @@
+{
+    "timestamp": {
+        "sec": 1754654529,
+        "nsec": 711125000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            0.016163991130362376,
+            0.33312301956140544,
+            -0.09404865933668893
+        ],
+        [
+            -0.15351274451439423,
+            2.526163504079996,
+            -0.02407272281971884
+        ],
+        [
+            -0.3223171832523981,
+            4.552529494466974,
+            0.1050141808783045
+        ],
+        [
+            -0.4601115167921499,
+            6.6153994857128495,
+            0.3820999526594546
+        ],
+        [
+            -0.5562740113245184,
+            8.76274875148507,
+            0.6816338086654743
+        ],
+        [
+            -0.661748101501658,
+            11.036659813979853,
+            1.2754493234864863
+        ],
+        [
+            -0.7879797333920884,
+            13.279531848562748,
+            1.671838811266213
+        ],
+        [
+            -0.876833508436043,
+            15.304430800918247,
+            1.956062648801072
+        ],
+        [
+            -0.8412101750917635,
+            17.330184391264652,
+            2.3748123504930128
+        ],
+        [
+            -0.9290972908314679,
+            19.535522795661798,
+            2.633865695825654
+        ],
+        [
+            -0.872548660422023,
+            21.834456007430497,
+            2.732639694745795
+        ],
+        [
+            -0.6719038685900713,
+            24.116964800461737,
+            2.9275073859794096
+        ],
+        [
+            -0.33943056732917043,
+            26.176949678220474,
+            3.2871246879061173
+        ],
+        [
+            -0.04590285444249531,
+            28.245838677041576,
+            2.6946292160968106
+        ],
+        [
+            0.7017474817054072,
+            30.390450943629865,
+            2.93554082970435
+        ],
+        [
+            1.8815493816851365,
+            32.67914054189897,
+            2.688154937719823
+        ],
+        [
+            3.879718636206217,
+            34.77209488024267,
+            2.3269452593111604
+        ],
+        [
+            9.479254336593495,
+            36.98596535069991,
+            1.6687412479957653
+        ],
+        [
+            18.97956308176505,
+            39.079153972313584,
+            1.3978983087824166
+        ],
+        [
+            27.319699137167575,
+            41.094875891925575,
+            0.5199919805419788
+        ],
+        [
+            36.114829556145224,
+            43.16510334733956,
+            0.1345937323853157
+        ],
+        [
+            44.77230914520486,
+            45.23481768855138,
+            -0.19180246888571406
+        ],
+        [
+            54.390051232156864,
+            47.322174469247265,
+            -0.7596610672717523
+        ],
+        [
+            57.7209915561414,
+            49.540212305321425,
+            -0.7374826501221989
+        ],
+        [
+            59.31272429326931,
+            51.73016485636705,
+            -1.100706807856766
+        ],
+        [
+            59.89692736222425,
+            53.85995416714885,
+            -0.8754605383664884
+        ],
+        [
+            60.10433666878919,
+            55.8745609315664,
+            -0.8947949251248668
+        ],
+        [
+            60.2280748694437,
+            57.87827920614708,
+            -0.8587621011010025
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -8.139078315589861,
+            -32.1404615063217,
+            1.1028004664389797
+        ],
+        [
+            -6.9587406471550555,
+            -29.82957014709033,
+            0.9883894497592913
+        ],
+        [
+            -6.027451895479633,
+            -27.640421878641146,
+            0.9746832608376524
+        ],
+        [
+            -5.180635121431704,
+            -25.536878319238483,
+            0.9784663781561103
+        ],
+        [
+            -4.3830664445909715,
+            -23.360197919657622,
+            0.724089059064922
+        ],
+        [
+            -3.6579093370434155,
+            -21.05791628472206,
+            0.8535732599765513
+        ],
+        [
+            -2.9351052037405356,
+            -18.879232878015884,
+            0.4679143693148178
+        ],
+        [
+            -2.2276299355970863,
+            -16.683490937831976,
+            0.47301656342677734
+        ],
+        [
+            -1.6377640766919193,
+            -14.61006824664636,
+            0.327706231327932
+        ],
+        [
+            -1.0951276547418836,
+            -12.476882222593922,
+            0.14419356558898966
+        ],
+        [
+            -0.6304097388860583,
+            -10.269001712532564,
+            0.09011744784910158
+        ],
+        [
+            -0.29653061046420603,
+            -8.154557737263886,
+            0.013104203006125248
+        ],
+        [
+            -0.06707607091403389,
+            -5.923398848318371,
+            -0.049423781970638236
+        ],
+        [
+            0.061510895562346235,
+            -3.826332424118455,
+            -0.228092076804296
+        ],
+        [
+            0.0797112904479782,
+            -1.7291402182532352,
+            -0.07240181934354384
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.1130647795269164,
+            0.33312301956140544,
+            -0.09404865933668893
+        ],
+        [
+            -0.0566119561178402,
+            2.526163504079996,
+            -0.02407272281971884
+        ],
+        [
+            -0.22541639485584408,
+            4.552529494466974,
+            0.1050141808783045
+        ],
+        [
+            -0.36321072839559587,
+            6.6153994857128495,
+            0.3820999526594546
+        ],
+        [
+            -0.45937322292796434,
+            8.76274875148507,
+            0.6816338086654743
+        ],
+        [
+            -0.5648473131051039,
+            11.036659813979853,
+            1.2754493234864863
+        ],
+        [
+            -0.6910789449955343,
+            13.279531848562748,
+            1.671838811266213
+        ],
+        [
+            -0.779932720039489,
+            15.304430800918247,
+            1.956062648801072
+        ],
+        [
+            -0.7443093866952095,
+            17.330184391264652,
+            2.3748123504930128
+        ],
+        [
+            -0.8321965024349138,
+            19.535522795661798,
+            2.633865695825654
+        ],
+        [
+            -0.7756478720254689,
+            21.834456007430497,
+            2.732639694745795
+        ],
+        [
+            -0.5750030801935173,
+            24.116964800461737,
+            2.9275073859794096
+        ],
+        [
+            -0.2425297789326164,
+            26.176949678220474,
+            3.2871246879061173
+        ],
+        [
+            0.050997933954058716,
+            28.245838677041576,
+            2.6946292160968106
+        ],
+        [
+            0.7986482701019613,
+            30.390450943629865,
+            2.93554082970435
+        ],
+        [
+            1.9784501700816906,
+            32.67914054189897,
+            2.688154937719823
+        ],
+        [
+            3.976619424602771,
+            34.77209488024267,
+            2.3269452593111604
+        ],
+        [
+            9.576155124990049,
+            36.98596535069991,
+            1.6687412479957653
+        ],
+        [
+            19.076463870161604,
+            39.079153972313584,
+            1.3978983087824166
+        ],
+        [
+            27.416599925564128,
+            41.094875891925575,
+            0.5199919805419788
+        ],
+        [
+            36.21173034454178,
+            43.16510334733956,
+            0.1345937323853157
+        ],
+        [
+            44.86920993360141,
+            45.23481768855138,
+            -0.19180246888571406
+        ],
+        [
+            54.48695202055342,
+            47.322174469247265,
+            -0.7596610672717523
+        ],
+        [
+            57.81789234453795,
+            49.540212305321425,
+            -0.7374826501221989
+        ],
+        [
+            59.409625081665865,
+            51.73016485636705,
+            -1.100706807856766
+        ],
+        [
+            59.9938281506208,
+            53.85995416714885,
+            -0.8754605383664884
+        ],
+        [
+            60.20123745718574,
+            55.8745609315664,
+            -0.8947949251248668
+        ],
+        [
+            60.324975657840255,
+            57.87827920614708,
+            -0.8587621011010025
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -8.042177527193306,
+            -32.1404615063217,
+            1.1028004664389797
+        ],
+        [
+            -6.861839858758501,
+            -29.82957014709033,
+            0.9883894497592913
+        ],
+        [
+            -5.930551107083079,
+            -27.640421878641146,
+            0.9746832608376524
+        ],
+        [
+            -5.08373433303515,
+            -25.536878319238483,
+            0.9784663781561103
+        ],
+        [
+            -4.2861656561944175,
+            -23.360197919657622,
+            0.724089059064922
+        ],
+        [
+            -3.5610085486468614,
+            -21.05791628472206,
+            0.8535732599765513
+        ],
+        [
+            -2.8382044153439816,
+            -18.879232878015884,
+            0.4679143693148178
+        ],
+        [
+            -2.1307291472005323,
+            -16.683490937831976,
+            0.47301656342677734
+        ],
+        [
+            -1.5408632882953652,
+            -14.61006824664636,
+            0.327706231327932
+        ],
+        [
+            -0.9982268663453295,
+            -12.476882222593922,
+            0.14419356558898966
+        ],
+        [
+            -0.5335089504895043,
+            -10.269001712532564,
+            0.09011744784910158
+        ],
+        [
+            -0.199629822067652,
+            -8.154557737263886,
+            0.013104203006125248
+        ],
+        [
+            0.029824717482520136,
+            -5.923398848318371,
+            -0.049423781970638236
+        ],
+        [
+            0.15841168395890026,
+            -3.826332424118455,
+            -0.228092076804296
+        ],
+        [
+            0.17661207884453223,
+            -1.7291402182532352,
+            -0.07240181934354384
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354872777.json

@@ -0,0 +1,450 @@
+{
+    "timestamp": {
+        "sec": 1754654548,
+        "nsec": 796431000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -3.552713678800501e-15,
+            0.0,
+            0.0
+        ],
+        [
+            -0.15374010985206965,
+            2.1944922448241186,
+            0.06067255621368961
+        ],
+        [
+            -0.30823226203808574,
+            4.222533368008847,
+            0.1810838174210423
+        ],
+        [
+            -0.4323935320445784,
+            6.287407351034666,
+            0.4495532147747705
+        ],
+        [
+            -0.5144382311992501,
+            8.436532847625635,
+            0.7404224168299718
+        ],
+        [
+            -0.6067385507408645,
+            10.713400466184453,
+            1.3250314041435367
+        ],
+        [
+            -0.7187594911994957,
+            12.958636343401018,
+            1.712202140362477
+        ],
+        [
+            -0.7943119809787511,
+            14.985203363897675,
+            1.9882671383909245
+        ],
+        [
+            -0.7462508368421297,
+            17.012208307507578,
+            2.3996538522652013
+        ],
+        [
+            -0.8193275590078173,
+            19.21910588436471,
+            2.649880023337874
+        ],
+        [
+            -0.7462473822356195,
+            21.517912338255968,
+            2.740412547592074
+        ],
+        [
+            -0.5298177296615947,
+            23.7995865499809,
+            2.9280268777405687
+        ],
+        [
+            -0.18428567308967914,
+            25.8583877608471,
+            3.2820692036114814
+        ],
+        [
+            0.12848290083043068,
+            27.922773855745284,
+            2.6837407301548053
+        ],
+        [
+            0.8905660908382416,
+            30.06265907015701,
+            2.921441561797322
+        ],
+        [
+            2.0889913231390302,
+            32.34154892353749,
+            2.6731063473827943
+        ],
+        [
+            4.105013343779543,
+            34.41818714621094,
+            2.3169609159853284
+        ],
+        [
+            9.72503720462743,
+            36.58780369443974,
+            1.686603178237882
+        ],
+        [
+            19.24225632486418,
+            38.609174230027804,
+            1.469204622091959
+        ],
+        [
+            27.942574838344754,
+            40.63969738380395,
+            0.7895732607908023
+        ],
+        [
+            36.697540479745435,
+            42.64506554905536,
+            0.27190934324116456
+        ],
+        [
+            46.01914752955042,
+            44.70314679926007,
+            -0.35009777777793816
+        ],
+        [
+            55.17613122260488,
+            46.72636696712367,
+            -0.6578202760501013
+        ],
+        [
+            58.073641123095086,
+            48.77339003087502,
+            -0.4554110088824952
+        ],
+        [
+            59.68398366222843,
+            50.95004088173792,
+            -0.8165550952708893
+        ],
+        [
+            60.28261740475486,
+            53.07626095054793,
+            -0.5955178194226776
+        ],
+        [
+            60.505185976874245,
+            55.08918022835414,
+            -0.6210534012426228
+        ],
+        [
+            60.643650660908534,
+            57.09204408830297,
+            -0.5917221826666592
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -8.189994087281521,
+            -31.998393763280873,
+            1.3728705165531487
+        ],
+        [
+            -7.130475521873228,
+            -29.896446347461065,
+            1.1222392281181799
+        ],
+        [
+            -6.1722747315272475,
+            -27.58346168230056,
+            1.2055919252171503
+        ],
+        [
+            -5.2434235081308564,
+            -25.405601773529185,
+            1.015831096608132
+        ],
+        [
+            -4.5050892122610104,
+            -23.379279355804044,
+            1.0070134297440623
+        ],
+        [
+            -3.8397292661989813,
+            -21.359352087820966,
+            1.0039532812605962
+        ],
+        [
+            -3.098213285474758,
+            -19.187586886044443,
+            0.6148132802247479
+        ],
+        [
+            -2.3744071932555606,
+            -16.997168523984172,
+            0.6162608013981579
+        ],
+        [
+            -1.768152460501721,
+            -14.928759795916292,
+            0.46699924202601495
+        ],
+        [
+            -1.2084332532549524,
+            -12.800383053010336,
+            0.27900815866815276
+        ],
+        [
+            -0.7269020908279984,
+            -10.596243811401973,
+            0.2196679720332535
+        ],
+        [
+            -0.37675387385178283,
+            -8.48465084539476,
+            0.136897150578847
+        ],
+        [
+            -0.13024656149577396,
+            -6.255514817201128,
+            0.0675009323090523
+        ],
+        [
+            0.015142423363894153,
+            -4.160155947691273,
+            -0.11818107026751035
+        ],
+        [
+            0.048004142070315226,
+            -2.062582272365816,
+            0.029773797882582054
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            2.7311211175586783,
+            0.0,
+            0.0
+        ],
+        [
+            2.577381007706612,
+            2.1944922448241186,
+            0.06067255621368961
+        ],
+        [
+            2.422888855520596,
+            4.222533368008847,
+            0.1810838174210423
+        ],
+        [
+            2.2987275855141034,
+            6.287407351034666,
+            0.4495532147747705
+        ],
+        [
+            2.2166828863594317,
+            8.436532847625635,
+            0.7404224168299718
+        ],
+        [
+            2.1243825668178173,
+            10.713400466184453,
+            1.3250314041435367
+        ],
+        [
+            2.012361626359186,
+            12.958636343401018,
+            1.712202140362477
+        ],
+        [
+            1.9368091365799307,
+            14.985203363897675,
+            1.9882671383909245
+        ],
+        [
+            1.9848702807165521,
+            17.012208307507578,
+            2.3996538522652013
+        ],
+        [
+            1.9117935585508645,
+            19.21910588436471,
+            2.649880023337874
+        ],
+        [
+            1.9848737353230623,
+            21.517912338255968,
+            2.740412547592074
+        ],
+        [
+            2.201303387897087,
+            23.7995865499809,
+            2.9280268777405687
+        ],
+        [
+            2.5468354444690027,
+            25.8583877608471,
+            3.2820692036114814
+        ],
+        [
+            2.8596040183891125,
+            27.922773855745284,
+            2.6837407301548053
+        ],
+        [
+            3.6216872083969234,
+            30.06265907015701,
+            2.921441561797322
+        ],
+        [
+            4.820112440697712,
+            32.34154892353749,
+            2.6731063473827943
+        ],
+        [
+            6.836134461338225,
+            34.41818714621094,
+            2.3169609159853284
+        ],
+        [
+            12.456158322186113,
+            36.58780369443974,
+            1.686603178237882
+        ],
+        [
+            21.973377442422862,
+            38.609174230027804,
+            1.469204622091959
+        ],
+        [
+            30.673695955903437,
+            40.63969738380395,
+            0.7895732607908023
+        ],
+        [
+            39.428661597304114,
+            42.64506554905536,
+            0.27190934324116456
+        ],
+        [
+            48.7502686471091,
+            44.70314679926007,
+            -0.35009777777793816
+        ],
+        [
+            57.90725234016356,
+            46.72636696712367,
+            -0.6578202760501013
+        ],
+        [
+            60.804762240653766,
+            48.77339003087502,
+            -0.4554110088824952
+        ],
+        [
+            62.41510477978711,
+            50.95004088173792,
+            -0.8165550952708893
+        ],
+        [
+            63.01373852231354,
+            53.07626095054793,
+            -0.5955178194226776
+        ],
+        [
+            63.236307094432924,
+            55.08918022835414,
+            -0.6210534012426228
+        ],
+        [
+            63.37477177846721,
+            57.09204408830297,
+            -0.5917221826666592
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -5.458872969722839,
+            -31.998393763280873,
+            1.3728705165531487
+        ],
+        [
+            -4.399354404314546,
+            -29.896446347461065,
+            1.1222392281181799
+        ],
+        [
+            -3.4411536139685657,
+            -27.58346168230056,
+            1.2055919252171503
+        ],
+        [
+            -2.5123023905721746,
+            -25.405601773529185,
+            1.015831096608132
+        ],
+        [
+            -1.7739680947023286,
+            -23.379279355804044,
+            1.0070134297440623
+        ],
+        [
+            -1.1086081486402994,
+            -21.359352087820966,
+            1.0039532812605962
+        ],
+        [
+            -0.36709216791607613,
+            -19.187586886044443,
+            0.6148132802247479
+        ],
+        [
+            0.3567139243031212,
+            -16.997168523984172,
+            0.6162608013981579
+        ],
+        [
+            0.9629686570569609,
+            -14.928759795916292,
+            0.46699924202601495
+        ],
+        [
+            1.5226878643037294,
+            -12.800383053010336,
+            0.27900815866815276
+        ],
+        [
+            2.0042190267306834,
+            -10.596243811401973,
+            0.2196679720332535
+        ],
+        [
+            2.354367243706899,
+            -8.48465084539476,
+            0.136897150578847
+        ],
+        [
+            2.600874556062908,
+            -6.255514817201128,
+            0.0675009323090523
+        ],
+        [
+            2.746263540922576,
+            -4.160155947691273,
+            -0.11818107026751035
+        ],
+        [
+            2.779125259628997,
+            -2.062582272365816,
+            0.029773797882582054
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354872878.json

@@ -0,0 +1,440 @@
+{
+    "timestamp": {
+        "sec": 1754654555,
+        "nsec": 861789000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.12808322355426682,
+            2.005539144266386,
+            0.11491704549024595
+        ],
+        [
+            -0.2725337039828801,
+            4.035179105709375,
+            0.2198607440082423
+        ],
+        [
+            -0.3859043119055947,
+            6.102675898934571,
+            0.4724483908256203
+        ],
+        [
+            -0.45667444019507997,
+            8.254397534122461,
+            0.7466056797443232
+        ],
+        [
+            -0.5359549310037295,
+            10.536225002147248,
+            1.3135194116486735
+        ],
+        [
+            -0.635872706329522,
+            12.78495605709589,
+            1.6833289506137286
+        ],
+        [
+            -0.7007866813690597,
+            14.813976639363851,
+            1.9436280151347423
+        ],
+        [
+            -0.6415610547798671,
+            16.843916983453624,
+            2.3387640270835655
+        ],
+        [
+            -0.7032487853900875,
+            19.05304458560488,
+            2.5717878886420635
+        ],
+        [
+            -0.618969606223132,
+            21.352121440481,
+            2.643833693300442
+        ],
+        [
+            -0.39104696783856596,
+            23.634152818702432,
+            2.8125411310901374
+        ],
+        [
+            -0.03442892958387844,
+            25.6940221786248,
+            3.1489376104644045
+        ],
+        [
+            0.28574920420655303,
+            27.752108455627955,
+            2.5330821640779844
+        ],
+        [
+            1.0588408269422054,
+            29.890160822857425,
+            2.7508954385917654
+        ],
+        [
+            2.267032312338582,
+            32.16129993240608,
+            2.479910458070309
+        ],
+        [
+            4.291431621556253,
+            34.22546099169878,
+            2.099572158631937
+        ],
+        [
+            9.919137864150603,
+            36.36331226652091,
+            1.4304164112965325
+        ],
+        [
+            19.605063513629528,
+            38.37512067313604,
+            0.885309545788479
+        ],
+        [
+            28.45605315684193,
+            40.41636289248204,
+            0.4688991683515704
+        ],
+        [
+            37.854886170273915,
+            42.47876512091854,
+            -0.20675272308674275
+        ],
+        [
+            47.64013371670987,
+            44.523761297782045,
+            -0.799343449008584
+        ],
+        [
+            55.923737463471014,
+            46.54440831915434,
+            -1.0805538580926575
+        ],
+        [
+            58.64657293470157,
+            48.63973779915642,
+            -1.1165240760075053
+        ],
+        [
+            59.994545684274286,
+            50.93336324392337,
+            -1.078698047983751
+        ],
+        [
+            60.54993989847307,
+            53.05871360785244,
+            -1.2215022599490437
+        ],
+        [
+            60.80980381781828,
+            55.17136220993281,
+            -1.231527365204367
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -8.320444381904966,
+            -32.13735848126927,
+            1.7287495719534358
+        ],
+        [
+            -7.252000906027275,
+            -30.042512662846413,
+            1.457404573934912
+        ],
+        [
+            -6.282578672239779,
+            -27.733518990216226,
+            1.5187498296048738
+        ],
+        [
+            -5.3442051550004095,
+            -25.56166241856333,
+            1.3081750831965433
+        ],
+        [
+            -4.596356509970326,
+            -23.539002620196207,
+            1.2804700569710432
+        ],
+        [
+            -3.9214886411674854,
+            -21.522345610211268,
+            1.2588539978917612
+        ],
+        [
+            -3.1712509318704836,
+            -19.357268712457586,
+            0.8496775224131805
+        ],
+        [
+            -2.4371159146070873,
+            -17.170369845247535,
+            0.8309939380393112
+        ],
+        [
+            -1.8216918836335836,
+            -15.106107634149936,
+            0.6630258863902556
+        ],
+        [
+            -1.252670116069872,
+            -12.981964872876343,
+            0.45603420565486363
+        ],
+        [
+            -0.7609771278592596,
+            -10.78067516987764,
+            0.3773896676855746
+        ],
+        [
+            -0.40119247736880226,
+            -8.671488871519536,
+            0.27655415352062973
+        ],
+        [
+            -0.14444008654584906,
+            -6.444166585433983,
+            0.1885611648264398
+        ],
+        [
+            0.010112368931530114,
+            -4.35105410228525,
+            -0.014264441115747761
+        ],
+        [
+            0.05344749462608078,
+            -2.2525568372695375,
+            0.11694971431969003
+        ],
+        [
+            0.015062027196936612,
+            -0.19006938375524385,
+            0.07103057930653645
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.018225044637437016,
+            2.005539144266386,
+            0.11491704549024595
+        ],
+        [
+            -0.1262254357911763,
+            4.035179105709375,
+            0.2198607440082423
+        ],
+        [
+            -0.23959604371389087,
+            6.102675898934571,
+            0.4724483908256203
+        ],
+        [
+            -0.31036617200337613,
+            8.254397534122461,
+            0.7466056797443232
+        ],
+        [
+            -0.38964666281202565,
+            10.536225002147248,
+            1.3135194116486735
+        ],
+        [
+            -0.48956443813781814,
+            12.78495605709589,
+            1.6833289506137286
+        ],
+        [
+            -0.5544784131773559,
+            14.813976639363851,
+            1.9436280151347423
+        ],
+        [
+            -0.4952527865881633,
+            16.843916983453624,
+            2.3387640270835655
+        ],
+        [
+            -0.5569405171983837,
+            19.05304458560488,
+            2.5717878886420635
+        ],
+        [
+            -0.4726613380314282,
+            21.352121440481,
+            2.643833693300442
+        ],
+        [
+            -0.24473869964686212,
+            23.634152818702432,
+            2.8125411310901374
+        ],
+        [
+            0.1118793386078254,
+            25.6940221786248,
+            3.1489376104644045
+        ],
+        [
+            0.43205747239825687,
+            27.752108455627955,
+            2.5330821640779844
+        ],
+        [
+            1.2051490951339092,
+            29.890160822857425,
+            2.7508954385917654
+        ],
+        [
+            2.413340580530286,
+            32.16129993240608,
+            2.479910458070309
+        ],
+        [
+            4.437739889747957,
+            34.22546099169878,
+            2.099572158631937
+        ],
+        [
+            10.065446132342306,
+            36.36331226652091,
+            1.4304164112965325
+        ],
+        [
+            19.75137178182123,
+            38.37512067313604,
+            0.885309545788479
+        ],
+        [
+            28.60236142503363,
+            40.41636289248204,
+            0.4688991683515704
+        ],
+        [
+            38.00119443846562,
+            42.47876512091854,
+            -0.20675272308674275
+        ],
+        [
+            47.78644198490157,
+            44.523761297782045,
+            -0.799343449008584
+        ],
+        [
+            56.07004573166272,
+            46.54440831915434,
+            -1.0805538580926575
+        ],
+        [
+            58.79288120289327,
+            48.63973779915642,
+            -1.1165240760075053
+        ],
+        [
+            60.14085395246599,
+            50.93336324392337,
+            -1.078698047983751
+        ],
+        [
+            60.69624816666477,
+            53.05871360785244,
+            -1.2215022599490437
+        ],
+        [
+            60.95611208600998,
+            55.17136220993281,
+            -1.231527365204367
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -8.174136113713264,
+            -32.13735848126927,
+            1.7287495719534358
+        ],
+        [
+            -7.105692637835571,
+            -30.042512662846413,
+            1.457404573934912
+        ],
+        [
+            -6.1362704040480756,
+            -27.733518990216226,
+            1.5187498296048738
+        ],
+        [
+            -5.197896886808706,
+            -25.56166241856333,
+            1.3081750831965433
+        ],
+        [
+            -4.450048241778622,
+            -23.539002620196207,
+            1.2804700569710432
+        ],
+        [
+            -3.7751803729757816,
+            -21.522345610211268,
+            1.2588539978917612
+        ],
+        [
+            -3.0249426636787797,
+            -19.357268712457586,
+            0.8496775224131805
+        ],
+        [
+            -2.2908076464153835,
+            -17.170369845247535,
+            0.8309939380393112
+        ],
+        [
+            -1.6753836154418797,
+            -15.106107634149936,
+            0.6630258863902556
+        ],
+        [
+            -1.1063618478781683,
+            -12.981964872876343,
+            0.45603420565486363
+        ],
+        [
+            -0.6146688596675558,
+            -10.78067516987764,
+            0.3773896676855746
+        ],
+        [
+            -0.2548842091770984,
+            -8.671488871519536,
+            0.27655415352062973
+        ],
+        [
+            0.0018681816458547829,
+            -6.444166585433983,
+            0.1885611648264398
+        ],
+        [
+            0.15642063712323395,
+            -4.35105410228525,
+            -0.014264441115747761
+        ],
+        [
+            0.19975576281778462,
+            -2.2525568372695375,
+            0.11694971431969003
+        ],
+        [
+            0.16137029538864045,
+            -0.19006938375524385,
+            0.07103057930653645
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354873001.json

@@ -0,0 +1,440 @@
+{
+    "timestamp": {
+        "sec": 1754654574,
+        "nsec": 812140000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.10307703467173823,
+            1.7933715161967285,
+            0.06840291932007059
+        ],
+        [
+            -0.2359585631352914,
+            3.8238013262773904,
+            0.1733542412271123
+        ],
+        [
+            -0.3361830683209881,
+            5.8920154719773095,
+            0.4256273078612631
+        ],
+        [
+            -0.3931687078829249,
+            8.044244185150234,
+            0.6990149969380863
+        ],
+        [
+            -0.4552465472453271,
+            10.326800199207966,
+            1.2651400308537097
+        ],
+        [
+            -0.5399774480238122,
+            12.576247523886956,
+            1.6343844246822457
+        ],
+        [
+            -0.5918764790437407,
+            14.605737853462202,
+            1.8939406674365011
+        ],
+        [
+            -0.5183764601820542,
+            16.635582547219855,
+            2.2871660605614146
+        ],
+        [
+            -0.5663659372997323,
+            18.84514391302377,
+            2.519299297265547
+        ],
+        [
+            -0.4694344560107133,
+            21.143793285078857,
+            2.589036768705697
+        ],
+        [
+            -0.22805205887550528,
+            23.42470693657976,
+            2.7540991587013903
+        ],
+        [
+            0.14242963043238177,
+            25.482892549209495,
+            3.085785906013533
+        ],
+        [
+            0.4675532367816366,
+            27.538903479394335,
+            2.4656046523908923
+        ],
+        [
+            1.2537824363300913,
+            29.67302540841692,
+            2.6747659359885385
+        ],
+        [
+            2.4712061223625525,
+            31.937663260076278,
+            2.3909925237510503
+        ],
+        [
+            4.502688717991383,
+            33.99100012615975,
+            1.9903719527357335
+        ],
+        [
+            10.134952915168189,
+            36.09904763642949,
+            1.2671909601537084
+        ],
+        [
+            20.180191708509394,
+            38.11730609618674,
+            0.21371395048895447
+        ],
+        [
+            29.55987119190303,
+            40.18949291531702,
+            -0.03198962545601436
+        ],
+        [
+            38.69797460976693,
+            42.19646715466362,
+            -0.5885905889408702
+        ],
+        [
+            48.72915455920919,
+            44.222221114503796,
+            -1.2190068425838296
+        ],
+        [
+            56.61983534246686,
+            46.26041461760511,
+            -1.6557271258209516
+        ],
+        [
+            59.225563031260634,
+            48.452819484644536,
+            -1.9035393750369551
+        ],
+        [
+            60.550355135613586,
+            50.9155630306405,
+            -1.8370239144112657
+        ],
+        [
+            60.9610722241906,
+            52.96640330561901,
+            -1.8871002502180159
+        ],
+        [
+            61.13723524572815,
+            55.11073200238437,
+            -1.8827971481640886
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -8.457821441424107,
+            -32.30532111325462,
+            1.7813249549573702
+        ],
+        [
+            -7.381059969545921,
+            -30.216245132715382,
+            1.4986151173645599
+        ],
+        [
+            -6.399084659438211,
+            -27.912304305618225,
+            1.5493659161240214
+        ],
+        [
+            -5.451415623523298,
+            -25.745502800900585,
+            1.3285895880576444
+        ],
+        [
+            -4.693326896758727,
+            -23.726790126818308,
+            1.2925556299893552
+        ],
+        [
+            -4.008189067075319,
+            -21.713695623606966,
+            1.2632970286732057
+        ],
+        [
+            -3.250538855812076,
+            -19.5528133376122,
+            0.8456920895623232
+        ],
+        [
+            -2.5052225239293264,
+            -17.36978679182829,
+            0.8186991065188634
+        ],
+        [
+            -1.8806465317714824,
+            -15.308866977902174,
+            0.6436196073568874
+        ],
+        [
+            -1.3025232144282626,
+            -13.18784915361011,
+            0.42991275883437363
+        ],
+        [
+            -0.8001210991363337,
+            -10.989203537339996,
+            0.3452198834408209
+        ],
+        [
+            -0.4303074620154632,
+            -8.881985312474352,
+            0.23963170502819953
+        ],
+        [
+            -0.1627842631302414,
+            -6.656087260491546,
+            0.14777136220616205
+        ],
+        [
+            0.0007707729637296268,
+            -4.563934034376558,
+            -0.057871978697313864
+        ],
+        [
+            0.05626880011968183,
+            -2.465611689180271,
+            0.07154658108343748
+        ],
+        [
+            0.028205660235290253,
+            -0.4029804570407336,
+            0.02462784968156395
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            3.4113686387569375,
+            1.7933715161967285,
+            0.06840291932007059
+        ],
+        [
+            3.2784871102933844,
+            3.8238013262773904,
+            0.1733542412271123
+        ],
+        [
+            3.1782626051076877,
+            5.8920154719773095,
+            0.4256273078612631
+        ],
+        [
+            3.121276965545751,
+            8.044244185150234,
+            0.6990149969380863
+        ],
+        [
+            3.0591991261833487,
+            10.326800199207966,
+            1.2651400308537097
+        ],
+        [
+            2.9744682254048636,
+            12.576247523886956,
+            1.6343844246822457
+        ],
+        [
+            2.922569194384935,
+            14.605737853462202,
+            1.8939406674365011
+        ],
+        [
+            2.9960692132466216,
+            16.635582547219855,
+            2.2871660605614146
+        ],
+        [
+            2.9480797361289435,
+            18.84514391302377,
+            2.519299297265547
+        ],
+        [
+            3.0450112174179624,
+            21.143793285078857,
+            2.589036768705697
+        ],
+        [
+            3.2863936145531705,
+            23.42470693657976,
+            2.7540991587013903
+        ],
+        [
+            3.6568753038610575,
+            25.482892549209495,
+            3.085785906013533
+        ],
+        [
+            3.9819989102103124,
+            27.538903479394335,
+            2.4656046523908923
+        ],
+        [
+            4.768228109758767,
+            29.67302540841692,
+            2.6747659359885385
+        ],
+        [
+            5.985651795791228,
+            31.937663260076278,
+            2.3909925237510503
+        ],
+        [
+            8.017134391420058,
+            33.99100012615975,
+            1.9903719527357335
+        ],
+        [
+            13.649398588596863,
+            36.09904763642949,
+            1.2671909601537084
+        ],
+        [
+            23.69463738193807,
+            38.11730609618674,
+            0.21371395048895447
+        ],
+        [
+            33.07431686533171,
+            40.18949291531702,
+            -0.03198962545601436
+        ],
+        [
+            42.212420283195605,
+            42.19646715466362,
+            -0.5885905889408702
+        ],
+        [
+            52.24360023263787,
+            44.222221114503796,
+            -1.2190068425838296
+        ],
+        [
+            60.13428101589553,
+            46.26041461760511,
+            -1.6557271258209516
+        ],
+        [
+            62.74000870468931,
+            48.452819484644536,
+            -1.9035393750369551
+        ],
+        [
+            64.06480080904227,
+            50.9155630306405,
+            -1.8370239144112657
+        ],
+        [
+            64.47551789761928,
+            52.96640330561901,
+            -1.8871002502180159
+        ],
+        [
+            64.65168091915683,
+            55.11073200238437,
+            -1.8827971481640886
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -4.943375767995431,
+            -32.30532111325462,
+            1.7813249549573702
+        ],
+        [
+            -3.8666142961172456,
+            -30.216245132715382,
+            1.4986151173645599
+        ],
+        [
+            -2.884638986009535,
+            -27.912304305618225,
+            1.5493659161240214
+        ],
+        [
+            -1.936969950094622,
+            -25.745502800900585,
+            1.3285895880576444
+        ],
+        [
+            -1.178881223330051,
+            -23.726790126818308,
+            1.2925556299893552
+        ],
+        [
+            -0.49374339364664355,
+            -21.713695623606966,
+            1.2632970286732057
+        ],
+        [
+            0.26390681761659973,
+            -19.5528133376122,
+            0.8456920895623232
+        ],
+        [
+            1.0092231494993493,
+            -17.36978679182829,
+            0.8186991065188634
+        ],
+        [
+            1.6337991416571933,
+            -15.308866977902174,
+            0.6436196073568874
+        ],
+        [
+            2.211922459000413,
+            -13.18784915361011,
+            0.42991275883437363
+        ],
+        [
+            2.714324574292342,
+            -10.989203537339996,
+            0.3452198834408209
+        ],
+        [
+            3.0841382114132125,
+            -8.881985312474352,
+            0.23963170502819953
+        ],
+        [
+            3.3516614102984343,
+            -6.656087260491546,
+            0.14777136220616205
+        ],
+        [
+            3.5152164463924054,
+            -4.563934034376558,
+            -0.057871978697313864
+        ],
+        [
+            3.5707144735483576,
+            -2.465611689180271,
+            0.07154658108343748
+        ],
+        [
+            3.542651333663966,
+            -0.4029804570407336,
+            0.02462784968156395
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354873175.json

@@ -0,0 +1,440 @@
+{
+    "timestamp": {
+        "sec": 1754654591,
+        "nsec": 153289000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.04458869303095625,
+            1.2428441789160658,
+            -0.03180926690791974
+        ],
+        [
+            -0.1498913064373255,
+            3.274426924496474,
+            0.08177066842750502
+        ],
+        [
+            -0.22163273807889539,
+            5.342746951206436,
+            0.342733957337058
+        ],
+        [
+            -0.24895324439695443,
+            7.494406075726211,
+            0.6250338462253304
+        ],
+        [
+            -0.27882042581280686,
+            9.77524604481507,
+            1.2006119524437766
+        ],
+        [
+            -0.3323173472988259,
+            12.024093100620192,
+            1.5792397557205018
+        ],
+        [
+            -0.3562384041728919,
+            14.05301444050243,
+            1.847194845281237
+        ],
+        [
+            -0.25440491848018354,
+            16.08005774979749,
+            2.2484719400434217
+        ],
+        [
+            -0.27207164198962275,
+            18.2890924910567,
+            2.4897262820568606
+        ],
+        [
+            -0.1440744143013717,
+            20.58592765119394,
+            2.56854835700086
+        ],
+        [
+            0.12838037504898026,
+            22.862698143433917,
+            2.7422223425783017
+        ],
+        [
+            0.5273815374851551,
+            24.914345197092786,
+            3.0812551375679744
+        ],
+        [
+            0.8784181785119429,
+            26.96833508642093,
+            2.4685481088957437
+        ],
+        [
+            1.6938158160940588,
+            29.090832539287483,
+            2.684215584224069
+        ],
+        [
+            2.9407842556075288,
+            31.340068134986396,
+            2.4062923468503294
+        ],
+        [
+            4.998579093170996,
+            33.36757438392196,
+            2.008411107150046
+        ],
+        [
+            10.65667756356681,
+            35.40276885791347,
+            1.2782329147031872
+        ],
+        [
+            21.77732380457295,
+            37.50593990123397,
+            0.8614268193684167
+        ],
+        [
+            31.677083661522126,
+            39.506773410475645,
+            -0.2631798923803137
+        ],
+        [
+            41.293510436597245,
+            41.51808551025867,
+            -0.7424897000158932
+        ],
+        [
+            52.514792785616386,
+            43.52566861221247,
+            -1.7278635929845745
+        ],
+        [
+            58.58774124072247,
+            45.768547966688956,
+            -1.6585139297567006
+        ],
+        [
+            60.62838739532163,
+            48.194853443477456,
+            -1.9344021948293602
+        ],
+        [
+            61.522547174368704,
+            50.49002300059176,
+            -1.8926288642083953
+        ],
+        [
+            61.76787620578319,
+            52.56290684657513,
+            -1.9378278922110628
+        ],
+        [
+            61.9529049367794,
+            54.588187553529764,
+            -1.8887238119188714
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -8.852068616858043,
+            -32.74735646974543,
+            1.565454736081856
+        ],
+        [
+            -7.748105222797227,
+            -30.67178138211299,
+            1.2882698659458294
+        ],
+        [
+            -6.7351277109269,
+            -28.381459279630903,
+            1.3456781870154564
+        ],
+        [
+            -5.759032303492679,
+            -26.22668752572575,
+            1.1310995448551622
+        ],
+        [
+            -4.973988160454269,
+            -24.21820339152826,
+            1.1011829868974203
+        ],
+        [
+            -4.261945174166247,
+            -22.214385308733725,
+            1.0782206913311978
+        ],
+        [
+            -3.47646407431545,
+            -20.062172960535303,
+            0.6673175010753556
+        ],
+        [
+            -2.7019588091660545,
+            -17.889256797638964,
+            0.6471457737893667
+        ],
+        [
+            -2.050224835775701,
+            -15.836206319616927,
+            0.4787265258919733
+        ],
+        [
+            -1.444236425972079,
+            -13.722281511030989,
+            0.2720534774444592
+        ],
+        [
+            -0.9125691731596248,
+            -11.530249713475193,
+            0.19491823694334198
+        ],
+        [
+            -0.5147630710710196,
+            -9.427770465163512,
+            0.09688277199923556
+        ],
+        [
+            -0.2176059293503414,
+            -7.2053061758569825,
+            0.013340936804854486
+        ],
+        [
+            -0.026512821437115974,
+            -5.1147105392882395,
+            -0.18423908116449272
+        ],
+        [
+            0.057525013530479896,
+            -3.0178714577851657,
+            -0.046437166956679654
+        ],
+        [
+            0.0570517404081059,
+            -0.9548741018794189,
+            -0.08488443620230068
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.4504815048608277,
+            1.2428441789160658,
+            -0.03180926690791974
+        ],
+        [
+            0.34517889145445846,
+            3.274426924496474,
+            0.08177066842750502
+        ],
+        [
+            0.2734374598128886,
+            5.342746951206436,
+            0.342733957337058
+        ],
+        [
+            0.24611695349482954,
+            7.494406075726211,
+            0.6250338462253304
+        ],
+        [
+            0.2162497720789771,
+            9.77524604481507,
+            1.2006119524437766
+        ],
+        [
+            0.16275285059295808,
+            12.024093100620192,
+            1.5792397557205018
+        ],
+        [
+            0.1388317937188921,
+            14.05301444050243,
+            1.847194845281237
+        ],
+        [
+            0.24066527941160043,
+            16.08005774979749,
+            2.2484719400434217
+        ],
+        [
+            0.22299855590216122,
+            18.2890924910567,
+            2.4897262820568606
+        ],
+        [
+            0.3509957835904123,
+            20.58592765119394,
+            2.56854835700086
+        ],
+        [
+            0.6234505729407642,
+            22.862698143433917,
+            2.7422223425783017
+        ],
+        [
+            1.0224517353769391,
+            24.914345197092786,
+            3.0812551375679744
+        ],
+        [
+            1.373488376403727,
+            26.96833508642093,
+            2.4685481088957437
+        ],
+        [
+            2.188886013985843,
+            29.090832539287483,
+            2.684215584224069
+        ],
+        [
+            3.4358544534993127,
+            31.340068134986396,
+            2.4062923468503294
+        ],
+        [
+            5.49364929106278,
+            33.36757438392196,
+            2.008411107150046
+        ],
+        [
+            11.151747761458594,
+            35.40276885791347,
+            1.2782329147031872
+        ],
+        [
+            22.272394002464736,
+            37.50593990123397,
+            0.8614268193684167
+        ],
+        [
+            32.17215385941391,
+            39.506773410475645,
+            -0.2631798923803137
+        ],
+        [
+            41.78858063448903,
+            41.51808551025867,
+            -0.7424897000158932
+        ],
+        [
+            53.00986298350817,
+            43.52566861221247,
+            -1.7278635929845745
+        ],
+        [
+            59.08281143861426,
+            45.768547966688956,
+            -1.6585139297567006
+        ],
+        [
+            61.123457593213416,
+            48.194853443477456,
+            -1.9344021948293602
+        ],
+        [
+            62.01761737226049,
+            50.49002300059176,
+            -1.8926288642083953
+        ],
+        [
+            62.262946403674974,
+            52.56290684657513,
+            -1.9378278922110628
+        ],
+        [
+            62.44797513467118,
+            54.588187553529764,
+            -1.8887238119188714
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -8.35699841896626,
+            -32.74735646974543,
+            1.565454736081856
+        ],
+        [
+            -7.253035024905443,
+            -30.67178138211299,
+            1.2882698659458294
+        ],
+        [
+            -6.240057513035116,
+            -28.381459279630903,
+            1.3456781870154564
+        ],
+        [
+            -5.263962105600895,
+            -26.22668752572575,
+            1.1310995448551622
+        ],
+        [
+            -4.478917962562485,
+            -24.21820339152826,
+            1.1011829868974203
+        ],
+        [
+            -3.7668749762744627,
+            -22.214385308733725,
+            1.0782206913311978
+        ],
+        [
+            -2.981393876423666,
+            -20.062172960535303,
+            0.6673175010753556
+        ],
+        [
+            -2.2068886112742705,
+            -17.889256797638964,
+            0.6471457737893667
+        ],
+        [
+            -1.5551546378839172,
+            -15.836206319616927,
+            0.4787265258919733
+        ],
+        [
+            -0.949166228080295,
+            -13.722281511030989,
+            0.2720534774444592
+        ],
+        [
+            -0.41749897526784085,
+            -11.530249713475193,
+            0.19491823694334198
+        ],
+        [
+            -0.019692873179235626,
+            -9.427770465163512,
+            0.09688277199923556
+        ],
+        [
+            0.27746426854144257,
+            -7.2053061758569825,
+            0.013340936804854486
+        ],
+        [
+            0.468557376454668,
+            -5.1147105392882395,
+            -0.18423908116449272
+        ],
+        [
+            0.5525952114222639,
+            -3.0178714577851657,
+            -0.046437166956679654
+        ],
+        [
+            0.5521219382998899,
+            -0.9548741018794189,
+            -0.08488443620230068
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354873276.json

@@ -0,0 +1,430 @@
+{
+    "timestamp": {
+        "sec": 1754654598,
+        "nsec": 923625000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.062187219886624234,
+            1.7027082778381057,
+            -0.01103198342941658
+        ],
+        [
+            -0.11745235795727993,
+            3.982362097671384,
+            0.16630356816568592
+        ],
+        [
+            -0.20867640171894664,
+            6.023478202286967,
+            0.5226958566522566
+        ],
+        [
+            -0.17389874791980375,
+            8.294148691790141,
+            0.952769999001664
+        ],
+        [
+            -0.20943031171959348,
+            10.486004164105339,
+            1.2424001996971872
+        ],
+        [
+            -0.26397592796861247,
+            12.570259024339357,
+            1.5682826011978817
+        ],
+        [
+            -0.2701604855689297,
+            14.61972739129007,
+            1.8689336271826125
+        ],
+        [
+            -0.05004350103133959,
+            16.91780673648053,
+            2.3488141912900478
+        ],
+        [
+            0.037908738637341344,
+            18.934963245674027,
+            2.2888750473225006
+        ],
+        [
+            0.04427532475367357,
+            21.125866981760304,
+            2.5621134563601125
+        ],
+        [
+            0.36389975721218093,
+            23.246109057393262,
+            3.077307194349256
+        ],
+        [
+            0.941392992393375,
+            25.599435332440216,
+            2.9572174711937684
+        ],
+        [
+            1.5233035324845403,
+            27.89870014838033,
+            2.4682835382890036
+        ],
+        [
+            2.5619999257907686,
+            29.957978232916354,
+            2.438236257757758
+        ],
+        [
+            4.19524256035087,
+            32.08303940393238,
+            2.100419476929548
+        ],
+        [
+            7.573459347438629,
+            34.09784918752049,
+            1.3796706072897411
+        ],
+        [
+            18.293766778938323,
+            36.1464430977342,
+            1.1949012444324458
+        ],
+        [
+            28.055061481927073,
+            38.16305878130756,
+            0.13182009484339163
+        ],
+        [
+            38.30749926713372,
+            40.178583608537046,
+            -0.45444490275630045
+        ],
+        [
+            49.43568110889376,
+            42.17985410300337,
+            -1.067785943214644
+        ],
+        [
+            58.07161427703977,
+            44.329692394241725,
+            -1.7729599247204857
+        ],
+        [
+            60.33733051703,
+            46.34284639031818,
+            -1.8090236169178349
+        ],
+        [
+            61.68758262984838,
+            48.639642774069976,
+            -1.7972089858120683
+        ],
+        [
+            62.142319353465936,
+            50.68131477550751,
+            -1.8411629443447595
+        ],
+        [
+            62.364576111592,
+            52.82133431674796,
+            -1.8304026844805668
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -9.09450057957997,
+            -33.08794640621125,
+            1.5842557903496826
+        ],
+        [
+            -7.973087243839874,
+            -31.02167116883421,
+            1.307638101317112
+        ],
+        [
+            -6.941763537934607,
+            -28.739554141625938,
+            1.3651513673076798
+        ],
+        [
+            -5.947730900598133,
+            -26.592982334860995,
+            1.1507308836201924
+        ],
+        [
+            -5.146391964207821,
+            -24.59094622547012,
+            1.1206451726948286
+        ],
+        [
+            -4.244106218027433,
+            -22.107339021734795,
+            0.9156243411930196
+        ],
+        [
+            -3.4200515892347596,
+            -19.942463107953955,
+            0.6872688125168931
+        ],
+        [
+            -2.607001171114348,
+            -17.698011011831525,
+            0.5425675597411568
+        ],
+        [
+            -1.9604961241218781,
+            -15.663244642264573,
+            0.40380308772264395
+        ],
+        [
+            -1.3622028921891456,
+            -13.525773345163628,
+            0.33132595812245524
+        ],
+        [
+            -0.8605141689196572,
+            -11.286493009102951,
+            0.1528607985611976
+        ],
+        [
+            -0.43434700213155253,
+            -8.727440480570806,
+            -0.022226612842410898
+        ],
+        [
+            -0.171686691639362,
+            -6.649521390915037,
+            -0.10526838037728847
+        ],
+        [
+            -0.009429308745982468,
+            -4.52502838129702,
+            0.01532991494123559
+        ],
+        [
+            0.04663584227542117,
+            -2.5059618529627627,
+            -0.10740919418141859
+        ],
+        [
+            0.0261074896286857,
+            -0.4149773745334784,
+            0.006052321917301207
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            3.677378762885347,
+            1.7027082778381057,
+            -0.01103198342941658
+        ],
+        [
+            3.6221136248146912,
+            3.982362097671384,
+            0.16630356816568592
+        ],
+        [
+            3.5308895810530245,
+            6.023478202286967,
+            0.5226958566522566
+        ],
+        [
+            3.5656672348521674,
+            8.294148691790141,
+            0.952769999001664
+        ],
+        [
+            3.5301356710523777,
+            10.486004164105339,
+            1.2424001996971872
+        ],
+        [
+            3.4755900548033587,
+            12.570259024339357,
+            1.5682826011978817
+        ],
+        [
+            3.4694054972030415,
+            14.61972739129007,
+            1.8689336271826125
+        ],
+        [
+            3.6895224817406316,
+            16.91780673648053,
+            2.3488141912900478
+        ],
+        [
+            3.7774747214093125,
+            18.934963245674027,
+            2.2888750473225006
+        ],
+        [
+            3.7838413075256447,
+            21.125866981760304,
+            2.5621134563601125
+        ],
+        [
+            4.103465739984152,
+            23.246109057393262,
+            3.077307194349256
+        ],
+        [
+            4.680958975165346,
+            25.599435332440216,
+            2.9572174711937684
+        ],
+        [
+            5.2628695152565115,
+            27.89870014838033,
+            2.4682835382890036
+        ],
+        [
+            6.30156590856274,
+            29.957978232916354,
+            2.438236257757758
+        ],
+        [
+            7.934808543122841,
+            32.08303940393238,
+            2.100419476929548
+        ],
+        [
+            11.3130253302106,
+            34.09784918752049,
+            1.3796706072897411
+        ],
+        [
+            22.033332761710295,
+            36.1464430977342,
+            1.1949012444324458
+        ],
+        [
+            31.794627464699044,
+            38.16305878130756,
+            0.13182009484339163
+        ],
+        [
+            42.04706524990569,
+            40.178583608537046,
+            -0.45444490275630045
+        ],
+        [
+            53.17524709166573,
+            42.17985410300337,
+            -1.067785943214644
+        ],
+        [
+            61.81118025981174,
+            44.329692394241725,
+            -1.7729599247204857
+        ],
+        [
+            64.07689649980196,
+            46.34284639031818,
+            -1.8090236169178349
+        ],
+        [
+            65.42714861262036,
+            48.639642774069976,
+            -1.7972089858120683
+        ],
+        [
+            65.8818853362379,
+            50.68131477550751,
+            -1.8411629443447595
+        ],
+        [
+            66.10414209436397,
+            52.82133431674796,
+            -1.8304026844805668
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -5.354934596807999,
+            -33.08794640621125,
+            1.5842557903496826
+        ],
+        [
+            -4.233521261067903,
+            -31.02167116883421,
+            1.307638101317112
+        ],
+        [
+            -3.202197555162636,
+            -28.739554141625938,
+            1.3651513673076798
+        ],
+        [
+            -2.2081649178261618,
+            -26.592982334860995,
+            1.1507308836201924
+        ],
+        [
+            -1.4068259814358495,
+            -24.59094622547012,
+            1.1206451726948286
+        ],
+        [
+            -0.5045402352554618,
+            -22.107339021734795,
+            0.9156243411930196
+        ],
+        [
+            0.31951439353721156,
+            -19.942463107953955,
+            0.6872688125168931
+        ],
+        [
+            1.1325648116576232,
+            -17.698011011831525,
+            0.5425675597411568
+        ],
+        [
+            1.779069858650093,
+            -15.663244642264573,
+            0.40380308772264395
+        ],
+        [
+            2.3773630905828256,
+            -13.525773345163628,
+            0.33132595812245524
+        ],
+        [
+            2.879051813852314,
+            -11.286493009102951,
+            0.1528607985611976
+        ],
+        [
+            3.3052189806404186,
+            -8.727440480570806,
+            -0.022226612842410898
+        ],
+        [
+            3.567879291132609,
+            -6.649521390915037,
+            -0.10526838037728847
+        ],
+        [
+            3.7301366740259887,
+            -4.52502838129702,
+            0.01532991494123559
+        ],
+        [
+            3.7862018250473923,
+            -2.5059618529627627,
+            -0.10740919418141859
+        ],
+        [
+            3.765673472400657,
+            -0.4149773745334784,
+            0.006052321917301207
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354873394.json

@@ -0,0 +1,430 @@
+{
+    "timestamp": {
+        "sec": 1754654610,
+        "nsec": 623432000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.06017133350163206,
+            1.5261041093767886,
+            0.05767343029426231
+        ],
+        [
+            -0.11031749142561154,
+            3.806834652321278,
+            0.22222501780287818
+        ],
+        [
+            -0.19647887077575277,
+            5.850119703932613,
+            0.5672679956246707
+        ],
+        [
+            -0.15598840458383378,
+            8.123111118362885,
+            0.9843870159244408
+        ],
+        [
+            -0.18630941194223638,
+            10.31663962465749,
+            1.2616808768098373
+        ],
+        [
+            -0.23577779328894977,
+            12.402814024275223,
+            1.575881672314122
+        ],
+        [
+            -0.23701808206351416,
+            14.453959625295681,
+            1.864931945464308
+        ],
+        [
+            -0.011012092297562504,
+            16.75425755511874,
+            2.331253986679022
+        ],
+        [
+            0.08094323195812692,
+            18.77085607973973,
+            2.2596768334704196
+        ],
+        [
+            0.09247846337750332,
+            20.96325334232486,
+            2.520483512515159
+        ],
+        [
+            0.4177112423145992,
+            23.08571107265228,
+            3.022885390746358
+        ],
+        [
+            0.9997506808324914,
+            25.43711922927809,
+            2.8880732693426334
+        ],
+        [
+            1.5852019473987902,
+            27.732370148462117,
+            2.3847195232595886
+        ],
+        [
+            2.628055727614999,
+            29.78929017337807,
+            2.3405010862283904
+        ],
+        [
+            4.264841859147754,
+            31.90901915679968,
+            1.9867118017970742
+        ],
+        [
+            7.6454381426108,
+            33.91271847523992,
+            1.2464119522705956
+        ],
+        [
+            18.369456929082457,
+            35.93803325261708,
+            1.0241749791458834
+        ],
+        [
+            28.520274664846408,
+            37.967248919038504,
+            -0.018181319584094524
+        ],
+        [
+            39.11758984727783,
+            40.01177835675177,
+            -0.8614199640860898
+        ],
+        [
+            50.639769221286045,
+            42.082084328956036,
+            -1.6163449897878355
+        ],
+        [
+            58.651992091156586,
+            44.325969298502436,
+            -1.919933173859901
+        ],
+        [
+            60.72852222220561,
+            46.451339438838424,
+            -1.9980031893760737
+        ],
+        [
+            61.82959951493041,
+            48.52478317054649,
+            -2.2384376204801555
+        ],
+        [
+            62.27787448594502,
+            50.72930781496189,
+            -2.190441845207351
+        ],
+        [
+            62.4997944428314,
+            52.87912866220116,
+            -2.1871998740468097
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -9.160128066315192,
+            -33.23618841024286,
+            1.871808842810707
+        ],
+        [
+            -8.035141179479266,
+            -31.173838182215118,
+            1.5807854529257241
+        ],
+        [
+            -6.9989894279155465,
+            -28.89357241431874,
+            1.622881337431953
+        ],
+        [
+            -6.00106664614357,
+            -26.750311307507268,
+            1.3939064498072296
+        ],
+        [
+            -5.195686950616549,
+            -24.750140992395554,
+            1.3505465505832404
+        ],
+        [
+            -4.288794598475199,
+            -22.269607448630026,
+            1.1292832426499524
+        ],
+        [
+            -3.4608451040528756,
+            -20.107769502251614,
+            0.8866800088211633
+        ],
+        [
+            -2.643533274226492,
+            -17.865860561505297,
+            0.7273052273261706
+        ],
+        [
+            -1.9931828579022088,
+            -15.833255109339209,
+            0.5754567995650903
+        ],
+        [
+            -1.3906720578022629,
+            -13.697471594906919,
+            0.4894289734610977
+        ],
+        [
+            -0.8848128468103837,
+            -11.460280752568632,
+            0.2970714799408536
+        ],
+        [
+            -0.45380891952386193,
+            -8.903148041712733,
+            0.10646242139081785
+        ],
+        [
+            -0.18707744433485374,
+            -6.826280527360069,
+            0.01101733252245074
+        ],
+        [
+            -0.020158872035100472,
+            -4.701479478401485,
+            0.11918686436438986
+        ],
+        [
+            0.03976119486951646,
+            -2.683260388131039,
+            -0.01512294598884667
+        ],
+        [
+            0.023808732628467055,
+            -0.5916292013703739,
+            0.0865407911477738
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.11944086446971,
+            1.5261041093767886,
+            0.05767343029426231
+        ],
+        [
+            1.0692947065457306,
+            3.806834652321278,
+            0.22222501780287818
+        ],
+        [
+            0.9831333271955893,
+            5.850119703932613,
+            0.5672679956246707
+        ],
+        [
+            1.0236237933875083,
+            8.123111118362885,
+            0.9843870159244408
+        ],
+        [
+            0.9933027860291057,
+            10.31663962465749,
+            1.2616808768098373
+        ],
+        [
+            0.9438344046823923,
+            12.402814024275223,
+            1.575881672314122
+        ],
+        [
+            0.9425941159078279,
+            14.453959625295681,
+            1.864931945464308
+        ],
+        [
+            1.1686001056737796,
+            16.75425755511874,
+            2.331253986679022
+        ],
+        [
+            1.260555429929469,
+            18.77085607973973,
+            2.2596768334704196
+        ],
+        [
+            1.2720906613488454,
+            20.96325334232486,
+            2.520483512515159
+        ],
+        [
+            1.5973234402859413,
+            23.08571107265228,
+            3.022885390746358
+        ],
+        [
+            2.1793628788038335,
+            25.43711922927809,
+            2.8880732693426334
+        ],
+        [
+            2.7648141453701323,
+            27.732370148462117,
+            2.3847195232595886
+        ],
+        [
+            3.8076679255863413,
+            29.78929017337807,
+            2.3405010862283904
+        ],
+        [
+            5.4444540571190965,
+            31.90901915679968,
+            1.9867118017970742
+        ],
+        [
+            8.825050340582141,
+            33.91271847523992,
+            1.2464119522705956
+        ],
+        [
+            19.549069127053798,
+            35.93803325261708,
+            1.0241749791458834
+        ],
+        [
+            29.69988686281775,
+            37.967248919038504,
+            -0.018181319584094524
+        ],
+        [
+            40.29720204524917,
+            40.01177835675177,
+            -0.8614199640860898
+        ],
+        [
+            51.81938141925739,
+            42.082084328956036,
+            -1.6163449897878355
+        ],
+        [
+            59.83160428912793,
+            44.325969298502436,
+            -1.919933173859901
+        ],
+        [
+            61.90813442017696,
+            46.451339438838424,
+            -1.9980031893760737
+        ],
+        [
+            63.00921171290175,
+            48.52478317054649,
+            -2.2384376204801555
+        ],
+        [
+            63.457486683916365,
+            50.72930781496189,
+            -2.190441845207351
+        ],
+        [
+            63.679406640802746,
+            52.87912866220116,
+            -2.1871998740468097
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -7.98051586834385,
+            -33.23618841024286,
+            1.871808842810707
+        ],
+        [
+            -6.855528981507924,
+            -31.173838182215118,
+            1.5807854529257241
+        ],
+        [
+            -5.819377229944204,
+            -28.89357241431874,
+            1.622881337431953
+        ],
+        [
+            -4.821454448172228,
+            -26.750311307507268,
+            1.3939064498072296
+        ],
+        [
+            -4.016074752645207,
+            -24.750140992395554,
+            1.3505465505832404
+        ],
+        [
+            -3.1091824005038573,
+            -22.269607448630026,
+            1.1292832426499524
+        ],
+        [
+            -2.2812329060815335,
+            -20.107769502251614,
+            0.8866800088211633
+        ],
+        [
+            -1.4639210762551498,
+            -17.865860561505297,
+            0.7273052273261706
+        ],
+        [
+            -0.8135706599308667,
+            -15.833255109339209,
+            0.5754567995650903
+        ],
+        [
+            -0.2110598598309208,
+            -13.697471594906919,
+            0.4894289734610977
+        ],
+        [
+            0.29479935116095835,
+            -11.460280752568632,
+            0.2970714799408536
+        ],
+        [
+            0.7258032784474802,
+            -8.903148041712733,
+            0.10646242139081785
+        ],
+        [
+            0.9925347536364884,
+            -6.826280527360069,
+            0.01101733252245074
+        ],
+        [
+            1.1594533259362416,
+            -4.701479478401485,
+            0.11918686436438986
+        ],
+        [
+            1.2193733928408585,
+            -2.683260388131039,
+            -0.01512294598884667
+        ],
+        [
+            1.2034209305998091,
+            -0.5916292013703739,
+            0.0865407911477738
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354873496.json

@@ -0,0 +1,430 @@
+{
+    "timestamp": {
+        "sec": 1754654622,
+        "nsec": 355588000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.061370915434309836,
+            1.3790219553373149,
+            0.06831968395276844
+        ],
+        [
+            -0.10358397475774694,
+            3.6609779718296807,
+            0.21737829002039266
+        ],
+        [
+            -0.18182971872792564,
+            5.7068504119339,
+            0.5487026089989309
+        ],
+        [
+            -0.13239949416592722,
+            7.982510873104431,
+            0.9500052920037212
+        ],
+        [
+            -0.15460434231937015,
+            10.177977905234464,
+            1.2123219179496203
+        ],
+        [
+            -0.1961471455680872,
+            12.266408841328605,
+            1.512360760322044
+        ],
+        [
+            -0.1896768195637044,
+            14.319484410349993,
+            1.787294785278763
+        ],
+        [
+            0.04555450199001143,
+            16.622192773783652,
+            2.2368567251866693
+        ],
+        [
+            0.1436349581965608,
+            18.637946551639878,
+            2.151033586158298
+        ],
+        [
+            0.1632147856207169,
+            20.832034749813964,
+            2.39670114889343
+        ],
+        [
+            0.4972529828851968,
+            22.956837159193327,
+            2.8831618653299596
+        ],
+        [
+            1.086218190174332,
+            25.305383003457727,
+            2.729809535366427
+        ],
+        [
+            1.6769098073763473,
+            27.595231473632104,
+            2.2082998439489296
+        ],
+        [
+            2.7261161466862234,
+            29.64844004039326,
+            2.14569069992371
+        ],
+        [
+            4.368181247048959,
+            31.760422747751427,
+            1.7706734852457833
+        ],
+        [
+            8.061940220781533,
+            33.83205930724136,
+            1.138187066700892
+        ],
+        [
+            18.91119446696164,
+            35.85608856195258,
+            0.61163408323084
+        ],
+        [
+            29.479192366847563,
+            37.89323120330379,
+            -0.46217404237410253
+        ],
+        [
+            40.04793440324171,
+            39.90084754531613,
+            -1.2643764777694932
+        ],
+        [
+            51.83704931519836,
+            41.92140542205913,
+            -2.1393910728097194
+        ],
+        [
+            58.77815493415142,
+            43.97554658651146,
+            -2.4424190984782395
+        ],
+        [
+            60.86110324449517,
+            46.093651606969324,
+            -2.5435526965374318
+        ],
+        [
+            61.96778276845413,
+            48.16184901894899,
+            -2.8027219946893376
+        ],
+        [
+            62.42326509231876,
+            50.36520045353607,
+            -2.7717177971195865
+        ],
+        [
+            62.65203835793834,
+            52.514269183856406,
+            -2.7841692292901885
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -9.21920705171282,
+            -33.242056283758444,
+            2.199430184459919
+        ],
+        [
+            -7.978474327674526,
+            -31.08807206477094,
+            2.093790465337247
+        ],
+        [
+            -7.090525226966951,
+            -29.006750906207728,
+            1.8709814429802023
+        ],
+        [
+            -6.086729748400957,
+            -26.868328192918113,
+            1.6232104075250098
+        ],
+        [
+            -5.0878360505196625,
+            -24.345936444887712,
+            1.6152086525194802
+        ],
+        [
+            -4.257726061909564,
+            -22.14355185280015,
+            1.1480467024839023
+        ],
+        [
+            -3.391640378539588,
+            -19.825608179732484,
+            1.116525784236629
+        ],
+        [
+            -2.521509556398282,
+            -17.471165028470832,
+            0.7126751569116527
+        ],
+        [
+            -1.8468609793111206,
+            -15.318568976948225,
+            0.6521995933297018
+        ],
+        [
+            -1.326853790234999,
+            -13.308771061583425,
+            0.5693364463615667
+        ],
+        [
+            -0.8556794536170784,
+            -11.147640137848821,
+            0.3509553479311207
+        ],
+        [
+            -0.48800082364850184,
+            -9.048331474940948,
+            0.19046184403028565
+        ],
+        [
+            -0.21505229538993476,
+            -6.9730355645454445,
+            0.0796462213221032
+        ],
+        [
+            -0.04093036589606669,
+            -4.848088755803783,
+            0.17251477757738165
+        ],
+        [
+            0.024863966529057535,
+            -2.831042378998177,
+            0.02408009314301962
+        ],
+        [
+            0.015985137886605827,
+            -0.7387219384743062,
+            0.1114148428016164
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            3.2833259014642513,
+            1.3790219553373149,
+            0.06831968395276844
+        ],
+        [
+            3.241112842140814,
+            3.6609779718296807,
+            0.21737829002039266
+        ],
+        [
+            3.1628670981706355,
+            5.7068504119339,
+            0.5487026089989309
+        ],
+        [
+            3.212297322732634,
+            7.982510873104431,
+            0.9500052920037212
+        ],
+        [
+            3.190092474579191,
+            10.177977905234464,
+            1.2123219179496203
+        ],
+        [
+            3.148549671330474,
+            12.266408841328605,
+            1.512360760322044
+        ],
+        [
+            3.1550199973348567,
+            14.319484410349993,
+            1.787294785278763
+        ],
+        [
+            3.3902513188885726,
+            16.622192773783652,
+            2.2368567251866693
+        ],
+        [
+            3.488331775095122,
+            18.637946551639878,
+            2.151033586158298
+        ],
+        [
+            3.507911602519278,
+            20.832034749813964,
+            2.39670114889343
+        ],
+        [
+            3.841949799783758,
+            22.956837159193327,
+            2.8831618653299596
+        ],
+        [
+            4.430915007072893,
+            25.305383003457727,
+            2.729809535366427
+        ],
+        [
+            5.0216066242749084,
+            27.595231473632104,
+            2.2082998439489296
+        ],
+        [
+            6.0708129635847845,
+            29.64844004039326,
+            2.14569069992371
+        ],
+        [
+            7.71287806394752,
+            31.760422747751427,
+            1.7706734852457833
+        ],
+        [
+            11.406637037680095,
+            33.83205930724136,
+            1.138187066700892
+        ],
+        [
+            22.2558912838602,
+            35.85608856195258,
+            0.61163408323084
+        ],
+        [
+            32.823889183746125,
+            37.89323120330379,
+            -0.46217404237410253
+        ],
+        [
+            43.392631220140274,
+            39.90084754531613,
+            -1.2643764777694932
+        ],
+        [
+            55.18174613209692,
+            41.92140542205913,
+            -2.1393910728097194
+        ],
+        [
+            62.12285175104998,
+            43.97554658651146,
+            -2.4424190984782395
+        ],
+        [
+            64.20580006139373,
+            46.093651606969324,
+            -2.5435526965374318
+        ],
+        [
+            65.31247958535269,
+            48.16184901894899,
+            -2.8027219946893376
+        ],
+        [
+            65.76796190921732,
+            50.36520045353607,
+            -2.7717177971195865
+        ],
+        [
+            65.9967351748369,
+            52.514269183856406,
+            -2.7841692292901885
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -5.874510234814259,
+            -33.242056283758444,
+            2.199430184459919
+        ],
+        [
+            -4.633777510775965,
+            -31.08807206477094,
+            2.093790465337247
+        ],
+        [
+            -3.7458284100683903,
+            -29.006750906207728,
+            1.8709814429802023
+        ],
+        [
+            -2.742032931502396,
+            -26.868328192918113,
+            1.6232104075250098
+        ],
+        [
+            -1.7431392336211013,
+            -24.345936444887712,
+            1.6152086525194802
+        ],
+        [
+            -0.9130292450110025,
+            -22.14355185280015,
+            1.1480467024839023
+        ],
+        [
+            -0.046943561641026754,
+            -19.825608179732484,
+            1.116525784236629
+        ],
+        [
+            0.823187260500279,
+            -17.471165028470832,
+            0.7126751569116527
+        ],
+        [
+            1.4978358375874405,
+            -15.318568976948225,
+            0.6521995933297018
+        ],
+        [
+            2.017843026663562,
+            -13.308771061583425,
+            0.5693364463615667
+        ],
+        [
+            2.4890173632814827,
+            -11.147640137848821,
+            0.3509553479311207
+        ],
+        [
+            2.8566959932500593,
+            -9.048331474940948,
+            0.19046184403028565
+        ],
+        [
+            3.1296445215086264,
+            -6.9730355645454445,
+            0.0796462213221032
+        ],
+        [
+            3.3037664510024944,
+            -4.848088755803783,
+            0.17251477757738165
+        ],
+        [
+            3.3695607834276187,
+            -2.831042378998177,
+            0.02408009314301962
+        ],
+        [
+            3.360681954785167,
+            -0.7387219384743062,
+            0.1114148428016164
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354873690.json

@@ -0,0 +1,430 @@
+{
+    "timestamp": {
+        "sec": 1754654633,
+        "nsec": 916346000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.04324101497783772,
+            0.8752890109460054,
+            -0.0031542545661280563
+        ],
+        [
+            -0.06972603725704829,
+            3.158859089283972,
+            0.12305950276786337
+        ],
+        [
+            -0.13348563682512093,
+            5.208435369336463,
+            0.4339678939109155
+        ],
+        [
+            -0.06788190524397919,
+            7.487618503801251,
+            0.8123038755407848
+        ],
+        [
+            -0.07472414414861461,
+            9.68570611483706,
+            1.0526007641529476
+        ],
+        [
+            -0.10155462234744306,
+            11.77727499943532,
+            1.3317290728014992
+        ],
+        [
+            -0.08066113718911438,
+            13.832913596584078,
+            1.5860188592661535
+        ],
+        [
+            0.17101587516926742,
+            16.138366173261254,
+            2.011991414278729
+        ],
+        [
+            0.28256347831852935,
+            18.1524460337666,
+            1.9057458131350515
+        ],
+        [
+            0.3174631886484143,
+            20.348704460466244,
+            2.129329971247181
+        ],
+        [
+            0.6668128365671429,
+            22.475963884995082,
+            2.5938006258899664
+        ],
+        [
+            1.2713530734122571,
+            24.818803931987205,
+            2.4157664961305323
+        ],
+        [
+            1.876506945498729,
+            27.09924678536573,
+            1.870180439849229
+        ],
+        [
+            2.9394553742175233,
+            29.144558994176585,
+            1.7849872924805308
+        ],
+        [
+            4.5950382001661225,
+            31.241485754565808,
+            1.3857000158218715
+        ],
+        [
+            8.301490651318147,
+            33.28156819009468,
+            0.7255134180446148
+        ],
+        [
+            20.618079841437346,
+            35.412377055803624,
+            -0.06078072102743004
+        ],
+        [
+            31.166419634106735,
+            37.432716478119055,
+            -1.0772276371600777
+        ],
+        [
+            42.42709997782225,
+            39.4638941110256,
+            -2.063710571439835
+        ],
+        [
+            54.93799286351347,
+            41.47920386323438,
+            -3.076186297062906
+        ],
+        [
+            59.739581904636225,
+            43.49484553616609,
+            -3.3395336110665457
+        ],
+        [
+            61.58887792340117,
+            45.66043764689065,
+            -3.3549383418231744
+        ],
+        [
+            62.52907904468681,
+            47.9374484004151,
+            -3.372655491374147
+        ],
+        [
+            62.81561186927111,
+            50.00331474461165,
+            -3.4684255967189634
+        ],
+        [
+            63.04147428915418,
+            52.025045426580895,
+            -3.468454349330765
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -9.430916392799299,
+            -33.65974981200604,
+            2.4927018309745126
+        ],
+        [
+            -8.175848230669816,
+            -31.515400242263407,
+            2.3631090473925385
+        ],
+        [
+            -7.2742742739355,
+            -29.442490234216447,
+            2.117744563305764
+        ],
+        [
+            -6.25651904466155,
+            -27.313519124002305,
+            1.8466286200783235
+        ],
+        [
+            -5.240601876623357,
+            -24.79816912297001,
+            1.811422679186568
+        ],
+        [
+            -4.396521604922304,
+            -22.606262892984482,
+            1.3206107538101268
+        ],
+        [
+            -3.514837953746209,
+            -20.294680882130525,
+            1.2641891525818942
+        ],
+        [
+            -2.629586107672626,
+            -17.950363768170618,
+            0.8350831428686587
+        ],
+        [
+            -1.9405096673562063,
+            -15.80310893062854,
+            0.7517280024154118
+        ],
+        [
+            -1.4070803202425495,
+            -13.79781719542699,
+            0.6477105673804422
+        ],
+        [
+            -0.9217222897248973,
+            -11.64223142834333,
+            0.40675411463559064
+        ],
+        [
+            -0.5401630987015267,
+            -9.547180686455942,
+            0.22449722298898855
+        ],
+        [
+            -0.25339753981093693,
+            -7.475000038633553,
+            0.09233446710229387
+        ],
+        [
+            -0.06472431238661969,
+            -5.350458847055034,
+            0.16353203442313502
+        ],
+        [
+            0.014425002544374621,
+            -3.335495409028873,
+            -0.005274260692801125
+        ],
+        [
+            0.0198705334327407,
+            -1.2423922022534981,
+            0.06106072185772682
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.402588768546627,
+            0.8752890109460054,
+            -0.0031542545661280563
+        ],
+        [
+            1.3761037462674164,
+            3.158859089283972,
+            0.12305950276786337
+        ],
+        [
+            1.3123441466993437,
+            5.208435369336463,
+            0.4339678939109155
+        ],
+        [
+            1.3779478782804855,
+            7.487618503801251,
+            0.8123038755407848
+        ],
+        [
+            1.37110563937585,
+            9.68570611483706,
+            1.0526007641529476
+        ],
+        [
+            1.3442751611770216,
+            11.77727499943532,
+            1.3317290728014992
+        ],
+        [
+            1.3651686463353503,
+            13.832913596584078,
+            1.5860188592661535
+        ],
+        [
+            1.616845658693732,
+            16.138366173261254,
+            2.011991414278729
+        ],
+        [
+            1.728393261842994,
+            18.1524460337666,
+            1.9057458131350515
+        ],
+        [
+            1.763292972172879,
+            20.348704460466244,
+            2.129329971247181
+        ],
+        [
+            2.1126426200916075,
+            22.475963884995082,
+            2.5938006258899664
+        ],
+        [
+            2.717182856936722,
+            24.818803931987205,
+            2.4157664961305323
+        ],
+        [
+            3.3223367290231938,
+            27.09924678536573,
+            1.870180439849229
+        ],
+        [
+            4.385285157741988,
+            29.144558994176585,
+            1.7849872924805308
+        ],
+        [
+            6.040867983690587,
+            31.241485754565808,
+            1.3857000158218715
+        ],
+        [
+            9.747320434842612,
+            33.28156819009468,
+            0.7255134180446148
+        ],
+        [
+            22.06390962496181,
+            35.412377055803624,
+            -0.06078072102743004
+        ],
+        [
+            32.6122494176312,
+            37.432716478119055,
+            -1.0772276371600777
+        ],
+        [
+            43.87292976134672,
+            39.4638941110256,
+            -2.063710571439835
+        ],
+        [
+            56.38382264703794,
+            41.47920386323438,
+            -3.076186297062906
+        ],
+        [
+            61.18541168816069,
+            43.49484553616609,
+            -3.3395336110665457
+        ],
+        [
+            63.03470770692564,
+            45.66043764689065,
+            -3.3549383418231744
+        ],
+        [
+            63.97490882821128,
+            47.9374484004151,
+            -3.372655491374147
+        ],
+        [
+            64.26144165279557,
+            50.00331474461165,
+            -3.4684255967189634
+        ],
+        [
+            64.48730407267864,
+            52.025045426580895,
+            -3.468454349330765
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -7.985086609274834,
+            -33.65974981200604,
+            2.4927018309745126
+        ],
+        [
+            -6.730018447145351,
+            -31.515400242263407,
+            2.3631090473925385
+        ],
+        [
+            -5.8284444904110355,
+            -29.442490234216447,
+            2.117744563305764
+        ],
+        [
+            -4.810689261137085,
+            -27.313519124002305,
+            1.8466286200783235
+        ],
+        [
+            -3.794772093098892,
+            -24.79816912297001,
+            1.811422679186568
+        ],
+        [
+            -2.9506918213978395,
+            -22.606262892984482,
+            1.3206107538101268
+        ],
+        [
+            -2.0690081702217444,
+            -20.294680882130525,
+            1.2641891525818942
+        ],
+        [
+            -1.1837563241481615,
+            -17.950363768170618,
+            0.8350831428686587
+        ],
+        [
+            -0.49467988383174166,
+            -15.80310893062854,
+            0.7517280024154118
+        ],
+        [
+            0.0387494632819152,
+            -13.79781719542699,
+            0.6477105673804422
+        ],
+        [
+            0.5241074937995673,
+            -11.64223142834333,
+            0.40675411463559064
+        ],
+        [
+            0.905666684822938,
+            -9.547180686455942,
+            0.22449722298898855
+        ],
+        [
+            1.1924322437135277,
+            -7.475000038633553,
+            0.09233446710229387
+        ],
+        [
+            1.381105471137845,
+            -5.350458847055034,
+            0.16353203442313502
+        ],
+        [
+            1.4602547860688393,
+            -3.335495409028873,
+            -0.005274260692801125
+        ],
+        [
+            1.4657003169572054,
+            -1.2423922022534981,
+            0.06106072185772682
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354873803.json

@@ -0,0 +1,420 @@
+{
+    "timestamp": {
+        "sec": 1754654641,
+        "nsec": 607160000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.010815991755684706,
+            0.45912035883435465,
+            -0.053822587778379116
+        ],
+        [
+            -0.032175702818154406,
+            2.7432612665305314,
+            0.06265808940966267
+        ],
+        [
+            -0.09232401518675104,
+            4.7942829349140865,
+            0.364625866356731
+        ],
+        [
+            -0.02286978902863268,
+            7.074869544266214,
+            0.7337038428529321
+        ],
+        [
+            -0.025373708756468716,
+            9.273960816053986,
+            0.9647230313024284
+        ],
+        [
+            -0.04832850320716631,
+            11.366748299825666,
+            1.2349202027334556
+        ],
+        [
+            -0.02352630331509431,
+            13.423381918717034,
+            1.480669839226153
+        ],
+        [
+            0.23182600070214576,
+            15.72997330346903,
+            1.8982065491115863
+        ],
+        [
+            0.3489812328432542,
+            17.743302249764895,
+            1.7840580247534619
+        ],
+        [
+            0.3882976714968862,
+            19.940389558221575,
+            1.9985819606188697
+        ],
+        [
+            0.7406791066980638,
+            22.068708047498617,
+            2.455854917504601
+        ],
+        [
+            1.3520074483684148,
+            24.409258192751643,
+            2.2710111690557513
+        ],
+        [
+            1.965632351043503,
+            26.685860970911037,
+            1.7188886912223325
+        ],
+        [
+            3.034146792515692,
+            28.728132252662434,
+            1.6304343748558698
+        ],
+        [
+            4.696989026492247,
+            30.819211913049884,
+            1.2306491573555687
+        ],
+        [
+            8.411831615606062,
+            32.84722121171622,
+            0.5804989570802803
+        ],
+        [
+            20.73753577196993,
+            34.943899990491275,
+            -0.1529376945214933
+        ],
+        [
+            31.49681590096936,
+            36.96349230877226,
+            -1.1607829188626688
+        ],
+        [
+            42.689567906108785,
+            38.97314819383513,
+            -2.0603018520988305
+        ],
+        [
+            55.5501764381514,
+            41.053566666737765,
+            -2.8055800638453077
+        ],
+        [
+            60.094199465122585,
+            43.13782215572658,
+            -3.0789999284375247
+        ],
+        [
+            62.01968382770123,
+            45.454656081267274,
+            -3.451193739277765
+        ],
+        [
+            62.719065613011296,
+            47.55670185981285,
+            -3.308714690673507
+        ],
+        [
+            63.05557416350031,
+            49.62905161210638,
+            -3.3988341490041174
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -9.413140385925699,
+            -33.999888423315944,
+            2.3613572087065333
+        ],
+        [
+            -8.236798694295526,
+            -31.900874579884,
+            2.4077193234094993
+        ],
+        [
+            -7.328784679874296,
+            -29.831277605180087,
+            2.1581714464699213
+        ],
+        [
+            -6.30432095900591,
+            -27.706019193643666,
+            1.8832199628747597
+        ],
+        [
+            -5.2819023604584885,
+            -25.193387474922332,
+            1.8425403156072264
+        ],
+        [
+            -4.429852250176566,
+            -23.00568664649738,
+            1.3467616683327353
+        ],
+        [
+            -3.5420725314361263,
+            -20.69657433688896,
+            1.285049729876416
+        ],
+        [
+            -2.648776215665446,
+            -18.356307261802165,
+            0.8505416875466887
+        ],
+        [
+            -1.953880096492302,
+            -16.211152194499004,
+            0.761621059070094
+        ],
+        [
+            -1.4148830592392478,
+            -14.20765652679584,
+            0.6518542983996838
+        ],
+        [
+            -0.9228920783139642,
+            -12.054325716552153,
+            0.40427860188557396
+        ],
+        [
+            -0.5351448065488427,
+            -9.961022276605465,
+            0.21513483794910693
+        ],
+        [
+            -0.24249814073093034,
+            -7.8901405156129805,
+            0.07570464755497541
+        ],
+        [
+            -0.048828438042651356,
+            -5.765796370270937,
+            0.1389182019922437
+        ],
+        [
+            0.03624446750895771,
+            -3.751766585531783,
+            -0.037955942052586344
+        ],
+        [
+            0.046634443883370125,
+            -1.658422499024482,
+            0.019607951195050433
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.4551595758464577,
+            0.45912035883435465,
+            -0.053822587778379116
+        ],
+        [
+            0.433799864783988,
+            2.7432612665305314,
+            0.06265808940966267
+        ],
+        [
+            0.3736515524153914,
+            4.7942829349140865,
+            0.364625866356731
+        ],
+        [
+            0.44310577857350975,
+            7.074869544266214,
+            0.7337038428529321
+        ],
+        [
+            0.4406018588456737,
+            9.273960816053986,
+            0.9647230313024284
+        ],
+        [
+            0.4176470643949761,
+            11.366748299825666,
+            1.2349202027334556
+        ],
+        [
+            0.4424492642870481,
+            13.423381918717034,
+            1.480669839226153
+        ],
+        [
+            0.6978015683042882,
+            15.72997330346903,
+            1.8982065491115863
+        ],
+        [
+            0.8149568004453966,
+            17.743302249764895,
+            1.7840580247534619
+        ],
+        [
+            0.8542732390990286,
+            19.940389558221575,
+            1.9985819606188697
+        ],
+        [
+            1.2066546743002062,
+            22.068708047498617,
+            2.455854917504601
+        ],
+        [
+            1.8179830159705572,
+            24.409258192751643,
+            2.2710111690557513
+        ],
+        [
+            2.4316079186456454,
+            26.685860970911037,
+            1.7188886912223325
+        ],
+        [
+            3.5001223601178344,
+            28.728132252662434,
+            1.6304343748558698
+        ],
+        [
+            5.162964594094389,
+            30.819211913049884,
+            1.2306491573555687
+        ],
+        [
+            8.877807183208205,
+            32.84722121171622,
+            0.5804989570802803
+        ],
+        [
+            21.203511339572074,
+            34.943899990491275,
+            -0.1529376945214933
+        ],
+        [
+            31.962791468571503,
+            36.96349230877226,
+            -1.1607829188626688
+        ],
+        [
+            43.15554347371093,
+            38.97314819383513,
+            -2.0603018520988305
+        ],
+        [
+            56.01615200575354,
+            41.053566666737765,
+            -2.8055800638453077
+        ],
+        [
+            60.56017503272473,
+            43.13782215572658,
+            -3.0789999284375247
+        ],
+        [
+            62.48565939530337,
+            45.454656081267274,
+            -3.451193739277765
+        ],
+        [
+            63.18504118061344,
+            47.55670185981285,
+            -3.308714690673507
+        ],
+        [
+            63.52154973110245,
+            49.62905161210638,
+            -3.3988341490041174
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -8.947164818323557,
+            -33.999888423315944,
+            2.3613572087065333
+        ],
+        [
+            -7.770823126693384,
+            -31.900874579884,
+            2.4077193234094993
+        ],
+        [
+            -6.862809112272154,
+            -29.831277605180087,
+            2.1581714464699213
+        ],
+        [
+            -5.8383453914037675,
+            -27.706019193643666,
+            1.8832199628747597
+        ],
+        [
+            -4.815926792856346,
+            -25.193387474922332,
+            1.8425403156072264
+        ],
+        [
+            -3.9638766825744236,
+            -23.00568664649738,
+            1.3467616683327353
+        ],
+        [
+            -3.076096963833984,
+            -20.69657433688896,
+            1.285049729876416
+        ],
+        [
+            -2.1828006480633038,
+            -18.356307261802165,
+            0.8505416875466887
+        ],
+        [
+            -1.4879045288901596,
+            -16.211152194499004,
+            0.761621059070094
+        ],
+        [
+            -0.9489074916371054,
+            -14.20765652679584,
+            0.6518542983996838
+        ],
+        [
+            -0.4569165107118218,
+            -12.054325716552153,
+            0.40427860188557396
+        ],
+        [
+            -0.06916923894670024,
+            -9.961022276605465,
+            0.21513483794910693
+        ],
+        [
+            0.22347742687121208,
+            -7.8901405156129805,
+            0.07570464755497541
+        ],
+        [
+            0.41714712955949107,
+            -5.765796370270937,
+            0.1389182019922437
+        ],
+        [
+            0.5022200351111001,
+            -3.751766585531783,
+            -0.037955942052586344
+        ],
+        [
+            0.5126100114855126,
+            -1.658422499024482,
+            0.019607951195050433
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354873989.json

@@ -0,0 +1,420 @@
+{
+    "timestamp": {
+        "sec": 1754654671,
+        "nsec": 479887000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            0.0,
+            7.105427357601002e-15,
+            -4.440892098500626e-16
+        ],
+        [
+            -0.01573463336045222,
+            2.284819041747774,
+            0.10333459926752742
+        ],
+        [
+            -0.0718306664318753,
+            4.337688918833784,
+            0.3932841548812003
+        ],
+        [
+            0.0019584771464629114,
+            6.620154170201232,
+            0.7496901924452257
+        ],
+        [
+            0.0042679782417920364,
+            8.820529693774645,
+            0.9681410522803948
+        ],
+        [
+            -0.014360652410584152,
+            10.914882704652086,
+            1.2262714964701213
+        ],
+        [
+            0.014792344333677931,
+            12.972814180689497,
+            1.4604039761164995
+        ],
+        [
+            0.27430188266706423,
+            15.28106048662044,
+            1.8660630819567932
+        ],
+        [
+            0.39751085821554355,
+            17.293380906253738,
+            1.7410240596672815
+        ],
+        [
+            0.4417180959120195,
+            19.491545582002253,
+            1.9432039815578865
+        ],
+        [
+            0.7975689331469695,
+            21.621488672786192,
+            2.3901082626214656
+        ],
+        [
+            1.4161910867177632,
+            23.95928917885903,
+            2.1950186421107825
+        ],
+        [
+            2.0387954430345196,
+            26.231036538091082,
+            1.6330375814400462
+        ],
+        [
+            3.1132965564835047,
+            28.269884870176313,
+            1.5383586400898224
+        ],
+        [
+            4.783824816877768,
+            30.354159977502334,
+            1.1350978441783068
+        ],
+        [
+            8.507415623178819,
+            32.36841040135715,
+            0.4922610083327057
+        ],
+        [
+            20.84233428392784,
+            34.42767426323026,
+            -0.1905187170349274
+        ],
+        [
+            31.829228189139528,
+            36.4310124051099,
+            -1.151482880223437
+        ],
+        [
+            43.14371501588165,
+            38.46755525873765,
+            -1.7878672312996207
+        ],
+        [
+            55.985007279130194,
+            40.47656090254,
+            -2.6729486872011705
+        ],
+        [
+            60.23545686149016,
+            42.49875709755753,
+            -2.9633680048948765
+        ],
+        [
+            62.169097420677794,
+            44.8082328186012,
+            -3.338992529750847
+        ],
+        [
+            62.87346530814377,
+            46.90916902973137,
+            -3.2049606981407512
+        ],
+        [
+            63.21606288970407,
+            48.98005608126776,
+            -3.305194095972907
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -9.278097370275892,
+            -34.014481870277216,
+            2.5335900238722435
+        ],
+        [
+            -8.152368686787321,
+            -31.955705688508345,
+            2.5041127177148974
+        ],
+        [
+            -7.030153208362641,
+            -29.60671648853243,
+            2.243994579957129
+        ],
+        [
+            -6.167392060404708,
+            -27.578839600623503,
+            2.087010598108268
+        ],
+        [
+            -5.22508580341931,
+            -25.282165078892675,
+            1.8617498308081837
+        ],
+        [
+            -4.3131408109805704,
+            -23.09878004702093,
+            1.6189163214456104
+        ],
+        [
+            -3.5073584547186947,
+            -20.933099417261374,
+            1.4103360483364102
+        ],
+        [
+            -2.6936872721213696,
+            -18.80277784803606,
+            0.9983083242375632
+        ],
+        [
+            -1.9925160296914974,
+            -16.660044767613545,
+            0.9006784505339147
+        ],
+        [
+            -1.4475211579124618,
+            -14.658667857364229,
+            0.7822196337390244
+        ],
+        [
+            -0.948426130895502,
+            -12.508120552966954,
+            0.524862149453901
+        ],
+        [
+            -0.5540322702047362,
+            -10.416984584389347,
+            0.3257479976202853
+        ],
+        [
+            -0.25505016496935795,
+            -8.347729492676233,
+            0.1759909170284102
+        ],
+        [
+            -0.05592398878053828,
+            -6.2235875188661645,
+            0.22806390530121856
+        ],
+        [
+            0.03552269904110261,
+            -4.210838714915859,
+            0.040134154090551544
+        ],
+        [
+            0.0513164404709201,
+            -2.1172351544944803,
+            0.0858037003172667
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            2.7827650071542855,
+            7.105427357601002e-15,
+            -4.440892098500626e-16
+        ],
+        [
+            2.7670303737938333,
+            2.284819041747774,
+            0.10333459926752742
+        ],
+        [
+            2.7109343407224102,
+            4.337688918833784,
+            0.3932841548812003
+        ],
+        [
+            2.7847234843007485,
+            6.620154170201232,
+            0.7496901924452257
+        ],
+        [
+            2.7870329853960776,
+            8.820529693774645,
+            0.9681410522803948
+        ],
+        [
+            2.7684043547437014,
+            10.914882704652086,
+            1.2262714964701213
+        ],
+        [
+            2.7975573514879635,
+            12.972814180689497,
+            1.4604039761164995
+        ],
+        [
+            3.0570668898213498,
+            15.28106048662044,
+            1.8660630819567932
+        ],
+        [
+            3.180275865369829,
+            17.293380906253738,
+            1.7410240596672815
+        ],
+        [
+            3.224483103066305,
+            19.491545582002253,
+            1.9432039815578865
+        ],
+        [
+            3.580333940301255,
+            21.621488672786192,
+            2.3901082626214656
+        ],
+        [
+            4.198956093872049,
+            23.95928917885903,
+            2.1950186421107825
+        ],
+        [
+            4.821560450188805,
+            26.231036538091082,
+            1.6330375814400462
+        ],
+        [
+            5.89606156363779,
+            28.269884870176313,
+            1.5383586400898224
+        ],
+        [
+            7.566589824032054,
+            30.354159977502334,
+            1.1350978441783068
+        ],
+        [
+            11.290180630333104,
+            32.36841040135715,
+            0.4922610083327057
+        ],
+        [
+            23.625099291082126,
+            34.42767426323026,
+            -0.1905187170349274
+        ],
+        [
+            34.61199319629381,
+            36.4310124051099,
+            -1.151482880223437
+        ],
+        [
+            45.926480023035936,
+            38.46755525873765,
+            -1.7878672312996207
+        ],
+        [
+            58.76777228628448,
+            40.47656090254,
+            -2.6729486872011705
+        ],
+        [
+            63.018221868644446,
+            42.49875709755753,
+            -2.9633680048948765
+        ],
+        [
+            64.95186242783208,
+            44.8082328186012,
+            -3.338992529750847
+        ],
+        [
+            65.65623031529806,
+            46.90916902973137,
+            -3.2049606981407512
+        ],
+        [
+            65.99882789685836,
+            48.98005608126776,
+            -3.305194095972907
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -6.495332363121607,
+            -34.014481870277216,
+            2.5335900238722435
+        ],
+        [
+            -5.369603679633036,
+            -31.955705688508345,
+            2.5041127177148974
+        ],
+        [
+            -4.247388201208356,
+            -29.60671648853243,
+            2.243994579957129
+        ],
+        [
+            -3.384627053250423,
+            -27.578839600623503,
+            2.087010598108268
+        ],
+        [
+            -2.442320796265024,
+            -25.282165078892675,
+            1.8617498308081837
+        ],
+        [
+            -1.530375803826285,
+            -23.09878004702093,
+            1.6189163214456104
+        ],
+        [
+            -0.7245934475644091,
+            -20.933099417261374,
+            1.4103360483364102
+        ],
+        [
+            0.08907773503291594,
+            -18.80277784803606,
+            0.9983083242375632
+        ],
+        [
+            0.7902489774627881,
+            -16.660044767613545,
+            0.9006784505339147
+        ],
+        [
+            1.3352438492418237,
+            -14.658667857364229,
+            0.7822196337390244
+        ],
+        [
+            1.8343388762587836,
+            -12.508120552966954,
+            0.524862149453901
+        ],
+        [
+            2.2287327369495493,
+            -10.416984584389347,
+            0.3257479976202853
+        ],
+        [
+            2.5277148421849276,
+            -8.347729492676233,
+            0.1759909170284102
+        ],
+        [
+            2.7268410183737473,
+            -6.2235875188661645,
+            0.22806390530121856
+        ],
+        [
+            2.818287706195388,
+            -4.210838714915859,
+            0.040134154090551544
+        ],
+        [
+            2.8340814476252056,
+            -2.1172351544944803,
+            0.0858037003172667
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354874074.json

@@ -0,0 +1,420 @@
+{
+    "timestamp": {
+        "sec": 1754654695,
+        "nsec": 996912000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.012357328902076858,
+            2.017462295257353,
+            0.12398588623027962
+        ],
+        [
+            -0.06963085062511354,
+            4.07255102764055,
+            0.39752251579768005
+        ],
+        [
+            0.0030025109783231585,
+            6.357920224185172,
+            0.735057336651971
+        ],
+        [
+            0.0036288883863910826,
+            8.55999804379379,
+            0.935635103959573
+        ],
+        [
+            -0.01637298008431287,
+            10.656354377781724,
+            1.176846489419166
+        ],
+        [
+            0.011341320197683302,
+            12.716151937146158,
+            1.394138475710053
+        ],
+        [
+            0.2698858623007325,
+            15.027920340288603,
+            1.7798677712813413
+        ],
+        [
+            0.3900755053539413,
+            17.039303197397494,
+            1.6379447926795423
+        ],
+        [
+            0.4325277725868766,
+            19.239087572324465,
+            1.8220791219691967
+        ],
+        [
+            0.7878172809075039,
+            21.373007307288105,
+            2.250058975212311
+        ],
+        [
+            1.4026996352412269,
+            23.70987507649304,
+            2.0331874586542744
+        ],
+        [
+            2.019974287455941,
+            25.977717785453727,
+            1.4499581620804083
+        ],
+        [
+            3.0915514368949317,
+            28.016996572209592,
+            1.333838789567384
+        ],
+        [
+            4.757689047282813,
+            30.099898434659394,
+            0.9060631989032735
+        ],
+        [
+            8.475860972757129,
+            32.11325519675027,
+            0.22992375955174316
+        ],
+        [
+            20.805028532263645,
+            34.18145993581375,
+            -0.5258080846968616
+        ],
+        [
+            31.784987948756704,
+            36.18989171393943,
+            -1.5531086847162667
+        ],
+        [
+            42.89788869348473,
+            38.193751551127534,
+            -2.3424575182446787
+        ],
+        [
+            55.62802980188518,
+            40.20264789035657,
+            -3.243963116891986
+        ],
+        [
+            60.17526913169115,
+            42.276237288353656,
+            -3.5437399027807315
+        ],
+        [
+            62.10436789086641,
+            44.584867008772804,
+            -3.946907973496711
+        ],
+        [
+            62.806781555130584,
+            46.687651801045746,
+            -3.8331416443103095
+        ],
+        [
+            63.146399025591776,
+            48.75805957147951,
+            -3.9517361426570634
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -9.21938212069039,
+            -34.271813871171744,
+            2.8909122316167823
+        ],
+        [
+            -8.096305395284894,
+            -32.21201808312432,
+            2.8395962748337285
+        ],
+        [
+            -6.9781449587507876,
+            -29.863895789875723,
+            2.5553108173639805
+        ],
+        [
+            -6.118575710938929,
+            -27.83634376831734,
+            2.3779441080054733
+        ],
+        [
+            -5.180100153204421,
+            -25.540463653197456,
+            2.12975974399757
+        ],
+        [
+            -4.2719276623917715,
+            -23.35804771288873,
+            1.8650611034220452
+        ],
+        [
+            -3.469739150434936,
+            -21.193182732174492,
+            1.6352421906436627
+        ],
+        [
+            -2.660545047721449,
+            -19.065318127992644,
+            1.2022355422816275
+        ],
+        [
+            -1.9624334726217256,
+            -16.922622533663827,
+            1.0840256605344964
+        ],
+        [
+            -1.4204193436625658,
+            -14.921631734352662,
+            0.94684715091398
+        ],
+        [
+            -0.9251183942689316,
+            -12.772657452630664,
+            0.6697750751138782
+        ],
+        [
+            -0.5341800054490982,
+            -10.682743157698592,
+            0.45190351231706316
+        ],
+        [
+            -0.23840099310009322,
+            -8.614420841945662,
+            0.28399969749643184
+        ],
+        [
+            -0.041624778977489285,
+            -6.489692627430912,
+            0.31792743030453785
+        ],
+        [
+            0.04651610356107483,
+            -4.478429493468354,
+            0.11325787542289012
+        ],
+        [
+            0.05996992866792539,
+            -2.3845069655563336,
+            0.14186660874890844
+        ],
+        [
+            0.005687040729359438,
+            -0.26810026792364283,
+            0.03912221829107754
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            2.392341123619545,
+            2.017462295257353,
+            0.12398588623027962
+        ],
+        [
+            2.335067601896508,
+            4.07255102764055,
+            0.39752251579768005
+        ],
+        [
+            2.407700963499945,
+            6.357920224185172,
+            0.735057336651971
+        ],
+        [
+            2.408327340908013,
+            8.55999804379379,
+            0.935635103959573
+        ],
+        [
+            2.388325472437309,
+            10.656354377781724,
+            1.176846489419166
+        ],
+        [
+            2.416039772719305,
+            12.716151937146158,
+            1.394138475710053
+        ],
+        [
+            2.6745843148223543,
+            15.027920340288603,
+            1.7798677712813413
+        ],
+        [
+            2.794773957875563,
+            17.039303197397494,
+            1.6379447926795423
+        ],
+        [
+            2.8372262251084983,
+            19.239087572324465,
+            1.8220791219691967
+        ],
+        [
+            3.1925157334291256,
+            21.373007307288105,
+            2.250058975212311
+        ],
+        [
+            3.8073980877628486,
+            23.70987507649304,
+            2.0331874586542744
+        ],
+        [
+            4.424672739977563,
+            25.977717785453727,
+            1.4499581620804083
+        ],
+        [
+            5.4962498894165535,
+            28.016996572209592,
+            1.333838789567384
+        ],
+        [
+            7.162387499804435,
+            30.099898434659394,
+            0.9060631989032735
+        ],
+        [
+            10.88055942527875,
+            32.11325519675027,
+            0.22992375955174316
+        ],
+        [
+            23.209726984785267,
+            34.18145993581375,
+            -0.5258080846968616
+        ],
+        [
+            34.18968640127832,
+            36.18989171393943,
+            -1.5531086847162667
+        ],
+        [
+            45.30258714600635,
+            38.193751551127534,
+            -2.3424575182446787
+        ],
+        [
+            58.0327282544068,
+            40.20264789035657,
+            -3.243963116891986
+        ],
+        [
+            62.579967584212774,
+            42.276237288353656,
+            -3.5437399027807315
+        ],
+        [
+            64.50906634338804,
+            44.584867008772804,
+            -3.946907973496711
+        ],
+        [
+            65.2114800076522,
+            46.687651801045746,
+            -3.8331416443103095
+        ],
+        [
+            65.5510974781134,
+            48.75805957147951,
+            -3.9517361426570634
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -6.814683668168769,
+            -34.271813871171744,
+            2.8909122316167823
+        ],
+        [
+            -5.691606942763272,
+            -32.21201808312432,
+            2.8395962748337285
+        ],
+        [
+            -4.573446506229166,
+            -29.863895789875723,
+            2.5553108173639805
+        ],
+        [
+            -3.713877258417307,
+            -27.83634376831734,
+            2.3779441080054733
+        ],
+        [
+            -2.7754017006827993,
+            -25.540463653197456,
+            2.12975974399757
+        ],
+        [
+            -1.8672292098701497,
+            -23.35804771288873,
+            1.8650611034220452
+        ],
+        [
+            -1.0650406979133145,
+            -21.193182732174492,
+            1.6352421906436627
+        ],
+        [
+            -0.2558465951998272,
+            -19.065318127992644,
+            1.2022355422816275
+        ],
+        [
+            0.4422649798998961,
+            -16.922622533663827,
+            1.0840256605344964
+        ],
+        [
+            0.9842791088590559,
+            -14.921631734352662,
+            0.94684715091398
+        ],
+        [
+            1.4795800582526901,
+            -12.772657452630664,
+            0.6697750751138782
+        ],
+        [
+            1.8705184470725236,
+            -10.682743157698592,
+            0.45190351231706316
+        ],
+        [
+            2.1662974594215285,
+            -8.614420841945662,
+            0.28399969749643184
+        ],
+        [
+            2.3630736735441324,
+            -6.489692627430912,
+            0.31792743030453785
+        ],
+        [
+            2.4512145560826966,
+            -4.478429493468354,
+            0.11325787542289012
+        ],
+        [
+            2.464668381189547,
+            -2.3845069655563336,
+            0.14186660874890844
+        ],
+        [
+            2.410385493250981,
+            -0.26810026792364283,
+            0.03912221829107754
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354874197.json

@@ -0,0 +1,420 @@
+{
+    "timestamp": {
+        "sec": 1754654706,
+        "nsec": 157997000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            0.004442449469614473,
+            0.21538273732022617,
+            0.031447160764596305
+        ],
+        [
+            -0.009285931560832239,
+            2.216041029923211,
+            0.11376883241425606
+        ],
+        [
+            -0.03415311047037406,
+            4.3251118579570615,
+            0.46481495292791397
+        ],
+        [
+            -0.014690797557840085,
+            6.362364368199408,
+            0.5706358297544765
+        ],
+        [
+            0.0014970350887075767,
+            8.403363459061993,
+            0.8085601193705791
+        ],
+        [
+            -0.01849432187160005,
+            10.502016290064077,
+            1.0288996910384918
+        ],
+        [
+            0.009177608611754096,
+            12.563886662596857,
+            1.2255585490766054
+        ],
+        [
+            0.26805177633445254,
+            14.879459197935581,
+            1.5875164449041685
+        ],
+        [
+            0.38725614152160404,
+            16.88935906892489,
+            1.425215773490124
+        ],
+        [
+            0.4295354100193336,
+            19.09088254721174,
+            1.5872829829931114
+        ],
+        [
+            0.7853204212152356,
+            21.229063383747636,
+            1.993005253580989
+        ],
+        [
+            1.3989178355396277,
+            23.5638202977324,
+            1.7511935482217118
+        ],
+        [
+            2.0139521470414508,
+            25.8259013448001,
+            1.1437257767246596
+        ],
+        [
+            3.084600941115358,
+            27.86421483375051,
+            1.0044112171986508
+        ],
+        [
+            4.748964449282926,
+            29.943203561141985,
+            0.5514358918516113
+        ],
+        [
+            8.464714070188325,
+            31.950737249391167,
+            -0.15467012396683577
+        ],
+        [
+            20.7911997347608,
+            34.01469035785736,
+            -0.9638814070235626
+        ],
+        [
+            31.76777650345449,
+            36.015793163531086,
+            -2.040451664888075
+        ],
+        [
+            43.07422781090757,
+            38.056430445953225,
+            -2.7954763686291986
+        ],
+        [
+            55.90569120303181,
+            40.0671864405236,
+            -3.809708786495983
+        ],
+        [
+            60.15081553045478,
+            42.08978440429733,
+            -4.167422925267392
+        ],
+        [
+            62.07813672815736,
+            44.39480756044408,
+            -4.59874525533224
+        ],
+        [
+            62.780216772306886,
+            46.4988157772234,
+            -4.507835127468606
+        ],
+        [
+            63.118892534846324,
+            48.568030701818614,
+            -4.647982695602016
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -9.203351796317378,
+            -34.40934538583359,
+            3.2156064404117144
+        ],
+        [
+            -8.081037122037964,
+            -32.34985525429498,
+            3.1407497972985183
+        ],
+        [
+            -6.964346463553465,
+            -30.0043785071844,
+            2.8300729728860383
+        ],
+        [
+            -6.1058644738524706,
+            -27.978460529261433,
+            2.630196857290546
+        ],
+        [
+            -5.1687460944303325,
+            -25.684912619759412,
+            2.35661965836098
+        ],
+        [
+            -4.2619404545652095,
+            -23.504996319976,
+            2.0677417648620007
+        ],
+        [
+            -3.4610201768654285,
+            -21.34231128233551,
+            1.814199533972857
+        ],
+        [
+            -2.6536245956263294,
+            -19.218649917572307,
+            1.3578308120717164
+        ],
+        [
+            -1.9564767960131597,
+            -17.077048338340724,
+            1.2163904404859935
+        ],
+        [
+            -1.3491927002666877,
+            -14.816746795300709,
+            0.9268038528661258
+        ],
+        [
+            -0.8781886790957429,
+            -12.734695087467326,
+            0.694978695357499
+        ],
+        [
+            -0.47668295839312336,
+            -10.494946314949967,
+            0.4843619561555794
+        ],
+        [
+            -0.21221120700495533,
+            -8.341843124523425,
+            0.45419639965987413
+        ],
+        [
+            -0.015061600116759166,
+            -6.244011086708088,
+            0.25018051185602275
+        ],
+        [
+            0.060093751723556466,
+            -3.8331120011984723,
+            0.20238948159189407
+        ],
+        [
+            0.050853222782244245,
+            -1.814425107718364,
+            -0.015589106288869115
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            0.7244878838481883,
+            0.21538273732022617,
+            0.031447160764596305
+        ],
+        [
+            0.7107595028177416,
+            2.216041029923211,
+            0.11376883241425606
+        ],
+        [
+            0.6858923239081998,
+            4.3251118579570615,
+            0.46481495292791397
+        ],
+        [
+            0.7053546368207337,
+            6.362364368199408,
+            0.5706358297544765
+        ],
+        [
+            0.7215424694672814,
+            8.403363459061993,
+            0.8085601193705791
+        ],
+        [
+            0.7015511125069738,
+            10.502016290064077,
+            1.0288996910384918
+        ],
+        [
+            0.7292230429903279,
+            12.563886662596857,
+            1.2255585490766054
+        ],
+        [
+            0.9880972107130264,
+            14.879459197935581,
+            1.5875164449041685
+        ],
+        [
+            1.1073015759001779,
+            16.88935906892489,
+            1.425215773490124
+        ],
+        [
+            1.1495808443979074,
+            19.09088254721174,
+            1.5872829829931114
+        ],
+        [
+            1.5053658555938094,
+            21.229063383747636,
+            1.993005253580989
+        ],
+        [
+            2.1189632699182015,
+            23.5638202977324,
+            1.7511935482217118
+        ],
+        [
+            2.7339975814200246,
+            25.8259013448001,
+            1.1437257767246596
+        ],
+        [
+            3.804646375493932,
+            27.86421483375051,
+            1.0044112171986508
+        ],
+        [
+            5.4690098836615,
+            29.943203561141985,
+            0.5514358918516113
+        ],
+        [
+            9.184759504566898,
+            31.950737249391167,
+            -0.15467012396683577
+        ],
+        [
+            21.51124516913937,
+            34.01469035785736,
+            -0.9638814070235626
+        ],
+        [
+            32.48782193783306,
+            36.015793163531086,
+            -2.040451664888075
+        ],
+        [
+            43.79427324528615,
+            38.056430445953225,
+            -2.7954763686291986
+        ],
+        [
+            56.625736637410384,
+            40.0671864405236,
+            -3.809708786495983
+        ],
+        [
+            60.870860964833355,
+            42.08978440429733,
+            -4.167422925267392
+        ],
+        [
+            62.79818216253594,
+            44.39480756044408,
+            -4.59874525533224
+        ],
+        [
+            63.50026220668546,
+            46.4988157772234,
+            -4.507835127468606
+        ],
+        [
+            63.8389379692249,
+            48.568030701818614,
+            -4.647982695602016
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -8.483306361938805,
+            -34.40934538583359,
+            3.2156064404117144
+        ],
+        [
+            -7.36099168765939,
+            -32.34985525429498,
+            3.1407497972985183
+        ],
+        [
+            -6.244301029174891,
+            -30.0043785071844,
+            2.8300729728860383
+        ],
+        [
+            -5.385819039473897,
+            -27.978460529261433,
+            2.630196857290546
+        ],
+        [
+            -4.448700660051759,
+            -25.684912619759412,
+            2.35661965836098
+        ],
+        [
+            -3.5418950201866357,
+            -23.504996319976,
+            2.0677417648620007
+        ],
+        [
+            -2.7409747424868547,
+            -21.34231128233551,
+            1.814199533972857
+        ],
+        [
+            -1.9335791612477555,
+            -19.218649917572307,
+            1.3578308120717164
+        ],
+        [
+            -1.236431361634586,
+            -17.077048338340724,
+            1.2163904404859935
+        ],
+        [
+            -0.6291472658881139,
+            -14.816746795300709,
+            0.9268038528661258
+        ],
+        [
+            -0.15814324471716912,
+            -12.734695087467326,
+            0.694978695357499
+        ],
+        [
+            0.24336247598545047,
+            -10.494946314949967,
+            0.4843619561555794
+        ],
+        [
+            0.5078342273736185,
+            -8.341843124523425,
+            0.45419639965987413
+        ],
+        [
+            0.7049838342618147,
+            -6.244011086708088,
+            0.25018051185602275
+        ],
+        [
+            0.7801391861021303,
+            -3.8331120011984723,
+            0.20238948159189407
+        ],
+        [
+            0.7708986571608181,
+            -1.814425107718364,
+            -0.015589106288869115
+        ]
+    ]
+}

ORAD-3D/testing/y2021_0403_1858/local_path/1620354874298.json

@@ -0,0 +1,420 @@
+{
+    "timestamp": {
+        "sec": 1754654714,
+        "nsec": 72947000
+    },
+    "curvature": -0.06956088298308505,
+    "utm_pose": [
+        461846.62859380856,
+        5424529.11573089,
+        -75.04152421146468
+    ],
+    "trajectory_ins": [
+        [
+            -0.009103547014817082,
+            2.0014474559598057,
+            0.061025701910919494
+        ],
+        [
+            -0.02913214715957224,
+            4.11418641091749,
+            0.389605184469608
+        ],
+        [
+            -0.004963567771849142,
+            6.152399116392296,
+            0.47374481304292804
+        ],
+        [
+            0.01592077851244511,
+            8.195771525303222,
+            0.6899399679351927
+        ],
+        [
+            0.000762093588807744,
+            10.296690912267756,
+            0.8879319627655602
+        ],
+        [
+            0.0331846348731446,
+            12.360467649681311,
+            1.0626438176505038
+        ],
+        [
+            0.29737363668498773,
+            14.679155103708801,
+            1.399983677937095
+        ],
+        [
+            0.42125804743378836,
+            16.68693263062493,
+            1.216324386835467
+        ],
+        [
+            0.4686163466258044,
+            18.889952262097538,
+            1.3549628996409622
+        ],
+        [
+            0.8292987360622952,
+            21.031499827471173,
+            1.7379682050410974
+        ],
+        [
+            1.448338782765866,
+            23.362124127301648,
+            1.4714267847496907
+        ],
+        [
+            2.0686983569049815,
+            25.616182458926325,
+            0.8400235873850259
+        ],
+        [
+            3.144087268473587,
+            27.650413200370338,
+            0.679203049441468
+        ],
+        [
+            4.813327346701932,
+            29.72060408188713,
+            0.20440421136906028
+        ],
+        [
+            8.816709174456442,
+            31.723859868329356,
+            -0.36549067498784105
+        ],
+        [
+            20.865166157098642,
+            33.738574311190604,
+            -1.3515168175401575
+        ],
+        [
+            32.34065176767365,
+            35.74987439545316,
+            -2.5064810130580435
+        ],
+        [
+            43.88760888529473,
+            37.768420135927016,
+            -3.5218938414288026
+        ],
+        [
+            56.53294955546888,
+            39.77263898057262,
+            -4.466753577211166
+        ],
+        [
+            60.46817602167416,
+            41.91981253437041,
+            -4.557965566905275
+        ],
+        [
+            62.17655407912644,
+            43.983785124719546,
+            -5.089847725038976
+        ],
+        [
+            62.88349533048338,
+            46.0870101243942,
+            -5.021216217045397
+        ],
+        [
+            63.22698490984684,
+            48.15382668256453,
+            -5.1833187799329705
+        ]
+    ],
+    "trajectory_ins_past": [
+        [
+            -9.288452735204027,
+            -34.56746785833234,
+            3.550908960008729
+        ],
+        [
+            -8.161358007722454,
+            -32.51149545528212,
+            3.454325834126796
+        ],
+        [
+            -7.03919161591914,
+            -30.17204982368935,
+            3.1188917673735626
+        ],
+        [
+            -6.1759892066585795,
+            -28.15036698787903,
+            2.897610151474942
+        ],
+        [
+            -5.233520128721736,
+            -25.8620364760128,
+            2.599796687036327
+        ],
+        [
+            -4.3216249003166745,
+            -23.68742345845927,
+            2.2878875717418374
+        ],
+        [
+            -3.515659613624045,
+            -21.529419455442543,
+            2.011478082542792
+        ],
+        [
+            -2.703281155531897,
+            -19.412610159310674,
+            1.5326699040834866
+        ],
+        [
+            -2.001152577068556,
+            -17.274255133642853,
+            1.3685632287372074
+        ],
+        [
+            -1.3885917033039448,
+            -15.018575559674414,
+            1.055040876010485
+        ],
+        [
+            -0.9127316744030729,
+            -12.94020499643823,
+            0.8011510564572744
+        ],
+        [
+            -0.5060072753224105,
+            -10.703760091836475,
+            0.5667789795041611
+        ],
+        [
+            -0.23654246133047963,
+            -8.55171804360397,
+            0.5137473534162167
+        ],
+        [
+            -0.034503422301725095,
+            -6.456637974673775,
+            0.2874523240038007
+        ],
+        [
+            0.04624537484875546,
+            -4.0465644662045435,
+            0.21402191117247238
+        ],
+        [
+            0.041713374105626144,
+            -2.0302954792587897,
+            -0.025426745762614722
+        ],
+        [
+            -7.105427357601002e-15,
+            -1.4210854715202004e-14,
+            8.881784197001252e-16
+        ]
+    ],
+    "trajectory_hmi": [
+        [
+            1.568222065452038,
+            2.0014474559598057,
+            0.061025701910919494
+        ],
+        [
+            1.5481934653072829,
+            4.11418641091749,
+            0.389605184469608
+        ],
+        [
+            1.572362044695006,
+            6.152399116392296,
+            0.47374481304292804
+        ],
+        [
+            1.5932463909793002,
+            8.195771525303222,
+            0.6899399679351927
+        ],
+        [
+            1.5780877060556628,
+            10.296690912267756,
+            0.8879319627655602
+        ],
+        [
+            1.6105102473399997,
+            12.360467649681311,
+            1.0626438176505038
+        ],
+        [
+            1.8746992491518428,
+            14.679155103708801,
+            1.399983677937095
+        ],
+        [
+            1.9985836599006435,
+            16.68693263062493,
+            1.216324386835467
+        ],
+        [
+            2.0459419590926595,
+            18.889952262097538,
+            1.3549628996409622
+        ],
+        [
+            2.4066243485291503,
+            21.031499827471173,
+            1.7379682050410974
+        ],
+        [
+            3.025664395232721,
+            23.362124127301648,
+            1.4714267847496907
+        ],
+        [
+            3.6460239693718366,
+            25.616182458926325,
+            0.8400235873850259
+        ],
+        [
+            4.721412880940442,
+            27.650413200370338,
+            0.679203049441468
+        ],
+        [
+            6.390652959168787,
+            29.72060408188713,
+            0.20440421136906028
+        ],
+        [
+            10.394034786923296,
+            31.723859868329356,
+            -0.36549067498784105
+        ],
+        [
+            22.442491769565496,
+            33.738574311190604,
+            -1.3515168175401575
+        ],
+        [
+            33.917977380140506,
+            35.74987439545316,
+            -2.5064810130580435
+        ],
+        [
+            45.46493449776159,
+            37.768420135927016,
+            -3.5218938414288026
+        ],
+        [
+            58.11027516793574,
+            39.77263898057262,
+            -4.466753577211166
+        ],
+        [
+            62.04550163414102,
+            41.91981253437041,
+            -4.557965566905275
+        ],
+        [
+            63.7538796915933,
+            43.983785124719546,
+            -5.089847725038976
+        ],
+        [
+            64.46082094295024,
+            46.0870101243942,
+            -5.021216217045397
+        ],
+        [
+            64.8043105223137,
+            48.15382668256453,
+            -5.1833187799329705
+        ]
+    ],
+    "trajectory_hmi_past": [
+        [
+            -7.711127122737172,
+            -34.56746785833234,
+            3.550908960008729
+        ],
+        [
+            -6.584032395255599,
+            -32.51149545528212,
+            3.454325834126796
+        ],
+        [
+            -5.461866003452285,
+            -30.17204982368935,
+            3.1188917673735626
+        ],
+        [
+            -4.598663594191724,
+            -28.15036698787903,
+            2.897610151474942
+        ],
+        [
+            -3.656194516254881,
+            -25.8620364760128,
+            2.599796687036327
+        ],
+        [
+            -2.7442992878498194,
+            -23.68742345845927,
+            2.2878875717418374
+        ],
+        [
+            -1.9383340011571901,
+            -21.529419455442543,
+            2.011478082542792
+        ],
+        [
+            -1.125955543065042,
+            -19.412610159310674,
+            1.5326699040834866
+        ],
+        [
+            -0.4238269646017008,
+            -17.274255133642853,
+            1.3685632287372074
+        ],
+        [
+            0.18873390916291033,
+            -15.018575559674414,
+            1.055040876010485
+        ],
+        [
+            0.6645939380637822,
+            -12.94020499643823,
+            0.8011510564572744
+        ],
+        [
+            1.0713183371444446,
+            -10.703760091836475,
+            0.5667789795041611
+        ],
+        [
+            1.3407831511363755,
+            -8.55171804360397,
+            0.5137473534162167
+        ],
+        [
+            1.54282219016513,
+            -6.456637974673775,
+            0.2874523240038007
+        ],
+        [
+            1.6235709873156106,
+            -4.0465644662045435,
+            0.21402191117247238
+        ],
+        [
+            1.6190389865724812,
+            -2.0302954792587897,
+            -0.025426745762614722
+        ],
+        [
+            1.577325612466848,
+            -1.4210854715202004e-14,
+            8.881784197001252e-16
+        ]
+    ]
+}