daniel-yard-depth / bench /frames.json
itaimizlish's picture
Add bench/
d11da42 verified
Raw History Blame Contribute Delete
283 kB
[
{
"img": "sim/b000.jpg",
"gt": "sim/b000_depth.npy",
"scene": "07",
"run": "l37rts2_pi",
"step": 384,
"pose": {
"x": -5.743,
"y": -0.482,
"yaw": 1.253
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0360133859903682,
"goal_dist": 4.462255003294282,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827289581298828,
-1.3983399868011475,
-0.012571032159030437
],
"start_pose": [
-6.827289581298828,
-1.3983399868011475,
-0.012571032159030437
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b001.jpg",
"gt": "sim/b001_depth.npy",
"scene": "08",
"run": "l36rts1_pi",
"step": 384,
"pose": {
"x": -5.275,
"y": 0.413,
"yaw": -0.163
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b002.jpg",
"gt": "sim/b002_depth.npy",
"scene": "07",
"run": "l31rts3_pi",
"step": 96,
"pose": {
"x": -5.71,
"y": -0.799,
"yaw": 0.776
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0977078137706968,
"goal_dist": 4.38116326820604,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"start_pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b003.jpg",
"gt": "sim/b003_depth.npy",
"scene": "09",
"run": "l36rts4_pi",
"step": 48,
"pose": {
"x": -4.89,
"y": 0.379,
"yaw": 0.59
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b004.jpg",
"gt": "sim/b004_depth.npy",
"scene": "07",
"run": "l35rts2_pi",
"step": 240,
"pose": {
"x": -6.047,
"y": -0.07,
"yaw": 1.868
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0353774012943315,
"goal_dist": 4.46222005500218,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"start_pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b005.jpg",
"gt": "sim/b005_depth.npy",
"scene": "08",
"run": "l36rts1_pi",
"step": 96,
"pose": {
"x": -5.385,
"y": 0.092,
"yaw": 1.173
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b006.jpg",
"gt": "sim/b006_depth.npy",
"scene": "07",
"run": "l31rts3_pi",
"step": 336,
"pose": {
"x": -6.351,
"y": -0.114,
"yaw": 2.394
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0977078137706968,
"goal_dist": 4.38116326820604,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"start_pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b007.jpg",
"gt": "sim/b007_depth.npy",
"scene": "08",
"run": "l35rts4_pi",
"step": 144,
"pose": {
"x": -5.338,
"y": 0.098,
"yaw": 1.11
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.063850813252329,
"goal_dist": 4.362616849941857,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"start_pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b008.jpg",
"gt": "sim/b008_depth.npy",
"scene": "08",
"run": "l38rt_pi",
"step": 144,
"pose": {
"x": -5.342,
"y": 0.787,
"yaw": 1.549
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b009.jpg",
"gt": "sim/b009_depth.npy",
"scene": "07",
"run": "l37rts2_pi",
"step": 240,
"pose": {
"x": -5.907,
"y": -0.058,
"yaw": 1.775
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0360133859903682,
"goal_dist": 4.462255003294282,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827289581298828,
-1.3983399868011475,
-0.012571032159030437
],
"start_pose": [
-6.827289581298828,
-1.3983399868011475,
-0.012571032159030437
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b010.jpg",
"gt": "sim/b010_depth.npy",
"scene": "09",
"run": "l35rts2_pi",
"step": 240,
"pose": {
"x": -3.321,
"y": 3.563,
"yaw": 1.362
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.066273677893978,
"goal_dist": 4.49999204633244,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"start_pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b011.jpg",
"gt": "sim/b011_depth.npy",
"scene": "07",
"run": "l37rts1_pi",
"step": 432,
"pose": {
"x": -6.63,
"y": 1.238,
"yaw": 1.329
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b012.jpg",
"gt": "sim/b012_depth.npy",
"scene": "09",
"run": "l32rt_pi",
"step": 48,
"pose": {
"x": -4.785,
"y": 0.454,
"yaw": 0.552
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0851010253854874,
"goal_dist": 4.466339804251912,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.528200149536133,
0.13829733431339264,
-0.03532786667346954
],
"start_pose": [
-5.528200149536133,
0.13829733431339264,
-0.03532786667346954
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b013.jpg",
"gt": "sim/b013_depth.npy",
"scene": "07",
"run": "l30rts1_pi",
"step": 624,
"pose": {
"x": -6.196,
"y": 2.066,
"yaw": -2.902
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b014.jpg",
"gt": "sim/b014_depth.npy",
"scene": "07",
"run": "l31rts1_pi",
"step": 480,
"pose": {
"x": -6.049,
"y": -0.225,
"yaw": 2.653
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b015.jpg",
"gt": "sim/b015_depth.npy",
"scene": "07",
"run": "l36rts4_pi",
"step": 480,
"pose": {
"x": -6.795,
"y": 0.341,
"yaw": 2.024
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b016.jpg",
"gt": "sim/b016_depth.npy",
"scene": "07",
"run": "l32rts2_pi",
"step": 48,
"pose": {
"x": -6.086,
"y": -1.058,
"yaw": 0.623
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b017.jpg",
"gt": "sim/b017_depth.npy",
"scene": "08",
"run": "l31rt_pi",
"step": 0,
"pose": {
"x": -5.96,
"y": -0.889,
"yaw": 0.021
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b018.jpg",
"gt": "sim/b018_depth.npy",
"scene": "07",
"run": "l32rt_pi",
"step": 624,
"pose": {
"x": -6.905,
"y": 0.822,
"yaw": 1.869
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b019.jpg",
"gt": "sim/b019_depth.npy",
"scene": "08",
"run": "l35rts2_pi",
"step": 144,
"pose": {
"x": -5.393,
"y": -0.383,
"yaw": 0.841
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2803984739794423,
"goal_dist": 4.599771232400724,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948699951171875,
-1.0034334659576416,
-0.21915289759635925
],
"start_pose": [
-5.948699951171875,
-1.0034334659576416,
-0.21915289759635925
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b020.jpg",
"gt": "sim/b020_depth.npy",
"scene": "07",
"run": "l31rts1_pi",
"step": 528,
"pose": {
"x": -6.68,
"y": 0.291,
"yaw": 2.347
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b021.jpg",
"gt": "sim/b021_depth.npy",
"scene": "07",
"run": "l31rts3_pi",
"step": 384,
"pose": {
"x": -6.701,
"y": 0.284,
"yaw": 2.239
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0977078137706968,
"goal_dist": 4.38116326820604,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"start_pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b022.jpg",
"gt": "sim/b022_depth.npy",
"scene": "08",
"run": "l35rts4_pi",
"step": 672,
"pose": {
"x": -5.615,
"y": 0.76,
"yaw": 1.235
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.063850813252329,
"goal_dist": 4.362616849941857,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"start_pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b023.jpg",
"gt": "sim/b023_depth.npy",
"scene": "07",
"run": "l32rts4_pi",
"step": 240,
"pose": {
"x": -5.899,
"y": -0.106,
"yaw": 1.235
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8194919002181296,
"goal_dist": 4.27262186734707,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.217599868774414,
-0.889075517654419,
2.7024357318878174
],
"start_pose": [
-7.217599868774414,
-0.889075517654419,
2.7024357318878174
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b024.jpg",
"gt": "sim/b024_depth.npy",
"scene": "09",
"run": "l32rts3_pi",
"step": 288,
"pose": {
"x": -3.39,
"y": 3.509,
"yaw": 1.414
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0496308833818944,
"goal_dist": 4.44777329229613,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"start_pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b025.jpg",
"gt": "sim/b025_depth.npy",
"scene": "07",
"run": "l35rts1_pi",
"step": 384,
"pose": {
"x": -4.997,
"y": -0.47,
"yaw": 2.911
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b026.jpg",
"gt": "sim/b026_depth.npy",
"scene": "07",
"run": "l30rts4_pi",
"step": 576,
"pose": {
"x": -6.018,
"y": 0.046,
"yaw": 1.022
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b027.jpg",
"gt": "sim/b027_depth.npy",
"scene": "09",
"run": "l31rts2_pi",
"step": 192,
"pose": {
"x": -3.493,
"y": 2.764,
"yaw": 1.366
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.066273677893978,
"goal_dist": 4.49999204633244,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"start_pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b028.jpg",
"gt": "sim/b028_depth.npy",
"scene": "07",
"run": "l36rts3_pi",
"step": 480,
"pose": {
"x": -5.012,
"y": -1.553,
"yaw": 2.118
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1125344085335023,
"goal_dist": 4.392901102752169,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"start_pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b029.jpg",
"gt": "sim/b029_depth.npy",
"scene": "07",
"run": "l39rts3_pi",
"step": 480,
"pose": {
"x": -6.951,
"y": 0.786,
"yaw": 1.88
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1125344085335023,
"goal_dist": 4.392901102752169,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"start_pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b030.jpg",
"gt": "sim/b030_depth.npy",
"scene": "07",
"run": "l39rts3_pi",
"step": 576,
"pose": {
"x": -6.07,
"y": 2.179,
"yaw": 0.367
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1125344085335023,
"goal_dist": 4.392901102752169,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"start_pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b031.jpg",
"gt": "sim/b031_depth.npy",
"scene": "09",
"run": "l32rt_pi",
"step": 0,
"pose": {
"x": -5.528,
"y": 0.138,
"yaw": -0.035
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0851010253854874,
"goal_dist": 4.466339804251912,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.528200149536133,
0.13829733431339264,
-0.03532786667346954
],
"start_pose": [
-5.528200149536133,
0.13829733431339264,
-0.03532786667346954
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b032.jpg",
"gt": "sim/b032_depth.npy",
"scene": "08",
"run": "l31rts3_pi",
"step": 336,
"pose": {
"x": -4.291,
"y": 1.308,
"yaw": 0.565
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0298107671823802,
"goal_dist": 4.373685139740647,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.958306312561035,
-0.736564040184021,
-0.0002510857302695513
],
"start_pose": [
-5.958306312561035,
-0.736564040184021,
-0.0002510857302695513
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b033.jpg",
"gt": "sim/b033_depth.npy",
"scene": "08",
"run": "l36rts1_pi",
"step": 288,
"pose": {
"x": -5.512,
"y": 0.267,
"yaw": 0.752
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b034.jpg",
"gt": "sim/b034_depth.npy",
"scene": "09",
"run": "l31rts3_pi",
"step": 192,
"pose": {
"x": -3.535,
"y": 2.74,
"yaw": 1.364
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 0.9971958587904028,
"goal_dist": 4.4513871919884584,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.430481433868408,
0.10083948075771332,
0.0758076012134552
],
"start_pose": [
-5.430481433868408,
0.10083948075771332,
0.0758076012134552
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b035.jpg",
"gt": "sim/b035_depth.npy",
"scene": "09",
"run": "l39rts2_pi",
"step": 192,
"pose": {
"x": -3.507,
"y": 2.764,
"yaw": 1.376
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0713219140191175,
"goal_dist": 4.498797926131017,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.533614158630371,
0.10400029271841049,
-0.018797719851136208
],
"start_pose": [
-5.533614158630371,
0.10400029271841049,
-0.018797719851136208
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b036.jpg",
"gt": "sim/b036_depth.npy",
"scene": "08",
"run": "l39rt_pi",
"step": 96,
"pose": {
"x": -5.423,
"y": 0.087,
"yaw": 1.207
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b037.jpg",
"gt": "sim/b037_depth.npy",
"scene": "07",
"run": "l36rts1_pi",
"step": 432,
"pose": {
"x": -6.01,
"y": -0.183,
"yaw": 2.035
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b038.jpg",
"gt": "sim/b038_depth.npy",
"scene": "07",
"run": "l31rts4_pi",
"step": 432,
"pose": {
"x": -5.807,
"y": -0.167,
"yaw": 1.266
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b039.jpg",
"gt": "sim/b039_depth.npy",
"scene": "08",
"run": "l31rts3_pi",
"step": 192,
"pose": {
"x": -5.243,
"y": 0.418,
"yaw": 1.297
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0298107671823802,
"goal_dist": 4.373685139740647,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.958306312561035,
-0.736564040184021,
-0.0002510857302695513
],
"start_pose": [
-5.958306312561035,
-0.736564040184021,
-0.0002510857302695513
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b040.jpg",
"gt": "sim/b040_depth.npy",
"scene": "08",
"run": "l31rts4_pi",
"step": 336,
"pose": {
"x": -4.591,
"y": 2.625,
"yaw": 0.45
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.06372651602842,
"goal_dist": 4.362609683895006,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"start_pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b041.jpg",
"gt": "sim/b041_depth.npy",
"scene": "08",
"run": "l36rts2_pi",
"step": 48,
"pose": {
"x": -6.467,
"y": -0.935,
"yaw": 0.246
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812361363647957,
"goal_dist": 4.599563860642721,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"start_pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b042.jpg",
"gt": "sim/b042_depth.npy",
"scene": "09",
"run": "l36rt_pi",
"step": 48,
"pose": {
"x": -4.837,
"y": 0.45,
"yaw": 0.578
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.07749339286236,
"goal_dist": 4.466323069513502,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.527299880981445,
0.13780008256435394,
-0.02748999372124672
],
"start_pose": [
-5.527299880981445,
0.13780008256435394,
-0.02748999372124672
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b043.jpg",
"gt": "sim/b043_depth.npy",
"scene": "07",
"run": "l32rts3_pi",
"step": 528,
"pose": {
"x": -6.53,
"y": -0.27,
"yaw": 0.73
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0531004484830788,
"goal_dist": 4.396266107904996,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"start_pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b044.jpg",
"gt": "sim/b044_depth.npy",
"scene": "07",
"run": "l32rts3_pi",
"step": 672,
"pose": {
"x": -6.365,
"y": 0.204,
"yaw": 0.982
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0531004484830788,
"goal_dist": 4.396266107904996,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"start_pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b045.jpg",
"gt": "sim/b045_depth.npy",
"scene": "08",
"run": "l39rts3_pi",
"step": 240,
"pose": {
"x": -5.363,
"y": 0.506,
"yaw": 1.352
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b046.jpg",
"gt": "sim/b046_depth.npy",
"scene": "07",
"run": "l35rt_pi",
"step": 384,
"pose": {
"x": -6.964,
"y": 1.52,
"yaw": 1.403
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b047.jpg",
"gt": "sim/b047_depth.npy",
"scene": "07",
"run": "l36rts1_pi",
"step": 672,
"pose": {
"x": -6.916,
"y": 2.528,
"yaw": 0.851
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b048.jpg",
"gt": "sim/b048_depth.npy",
"scene": "09",
"run": "l31rts2_pi",
"step": 48,
"pose": {
"x": -4.797,
"y": 0.43,
"yaw": 0.56
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.066273677893978,
"goal_dist": 4.49999204633244,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"start_pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b049.jpg",
"gt": "sim/b049_depth.npy",
"scene": "08",
"run": "l39rt_pi",
"step": 576,
"pose": {
"x": -5.797,
"y": 1.132,
"yaw": 0.593
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b050.jpg",
"gt": "sim/b050_depth.npy",
"scene": "07",
"run": "l32rts4_pi",
"step": 480,
"pose": {
"x": -6.566,
"y": -0.427,
"yaw": 0.711
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8194919002181296,
"goal_dist": 4.27262186734707,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.217599868774414,
-0.889075517654419,
2.7024357318878174
],
"start_pose": [
-7.217599868774414,
-0.889075517654419,
2.7024357318878174
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b051.jpg",
"gt": "sim/b051_depth.npy",
"scene": "07",
"run": "l37rt_pi",
"step": 336,
"pose": {
"x": -5.988,
"y": -0.063,
"yaw": 1.55
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.163721260395854,
"goal_dist": 4.476072347035569,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"start_pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b052.jpg",
"gt": "sim/b052_depth.npy",
"scene": "09",
"run": "l36rts4_pi",
"step": 192,
"pose": {
"x": -3.534,
"y": 2.659,
"yaw": 1.381
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b053.jpg",
"gt": "sim/b053_depth.npy",
"scene": "08",
"run": "l30rts4_pi",
"step": 0,
"pose": {
"x": -5.904,
"y": -0.756,
"yaw": -0.023
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0656980650986787,
"goal_dist": 4.362472862750087,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903984546661377,
-0.755709707736969,
-0.023204658180475235
],
"start_pose": [
-5.903984546661377,
-0.755709707736969,
-0.023204658180475235
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b054.jpg",
"gt": "sim/b054_depth.npy",
"scene": "07",
"run": "l39rts4_pi",
"step": 432,
"pose": {
"x": -5.82,
"y": -0.092,
"yaw": 1.201
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b055.jpg",
"gt": "sim/b055_depth.npy",
"scene": "07",
"run": "l39rts3_pi",
"step": 384,
"pose": {
"x": -6.409,
"y": -0.171,
"yaw": 1.517
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1125344085335023,
"goal_dist": 4.392901102752169,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"start_pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b056.jpg",
"gt": "sim/b056_depth.npy",
"scene": "09",
"run": "l39rts3_pi",
"step": 240,
"pose": {
"x": -3.518,
"y": 2.724,
"yaw": 1.372
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0493114819823788,
"goal_dist": 4.4478426418030255,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"start_pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b057.jpg",
"gt": "sim/b057_depth.npy",
"scene": "08",
"run": "l36rts1_pi",
"step": 624,
"pose": {
"x": -3.758,
"y": 1.81,
"yaw": 1.115
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b058.jpg",
"gt": "sim/b058_depth.npy",
"scene": "08",
"run": "l30rts2_pi",
"step": 480,
"pose": {
"x": -4.428,
"y": 2.679,
"yaw": 0.424
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812860432311268,
"goal_dist": 4.599606452197891,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"start_pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b059.jpg",
"gt": "sim/b059_depth.npy",
"scene": "07",
"run": "l39rts3_pi",
"step": 528,
"pose": {
"x": -6.79,
"y": 1.652,
"yaw": 1.134
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1125344085335023,
"goal_dist": 4.392901102752169,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"start_pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b060.jpg",
"gt": "sim/b060_depth.npy",
"scene": "08",
"run": "l32rt_pi",
"step": 384,
"pose": {
"x": -5.585,
"y": 1.442,
"yaw": 1.396
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b061.jpg",
"gt": "sim/b061_depth.npy",
"scene": "07",
"run": "l35rts4_pi",
"step": 384,
"pose": {
"x": -6.261,
"y": -0.743,
"yaw": 1.695
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b062.jpg",
"gt": "sim/b062_depth.npy",
"scene": "07",
"run": "l30rt_pi",
"step": 336,
"pose": {
"x": -5.575,
"y": -0.351,
"yaw": 1.726
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637220570846987,
"goal_dist": 4.476064702929715,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742983818054199,
-1.4644137620925903,
-0.1165119856595993
],
"start_pose": [
-6.742983818054199,
-1.4644137620925903,
-0.1165119856595993
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b063.jpg",
"gt": "sim/b063_depth.npy",
"scene": "09",
"run": "l31rts4_pi",
"step": 144,
"pose": {
"x": -3.843,
"y": 1.976,
"yaw": 1.142
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b064.jpg",
"gt": "sim/b064_depth.npy",
"scene": "09",
"run": "l35rts2_pi",
"step": 192,
"pose": {
"x": -3.502,
"y": 2.704,
"yaw": 1.349
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.066273677893978,
"goal_dist": 4.49999204633244,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"start_pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b065.jpg",
"gt": "sim/b065_depth.npy",
"scene": "08",
"run": "l37rt_pi",
"step": 96,
"pose": {
"x": -5.325,
"y": 0.313,
"yaw": 1.261
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b066.jpg",
"gt": "sim/b066_depth.npy",
"scene": "08",
"run": "l32rts2_pi",
"step": 48,
"pose": {
"x": -6.468,
"y": -0.938,
"yaw": 0.248
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812860432311268,
"goal_dist": 4.599606452197891,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"start_pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b067.jpg",
"gt": "sim/b067_depth.npy",
"scene": "07",
"run": "l35rt_pi",
"step": 0,
"pose": {
"x": -6.743,
"y": -1.464,
"yaw": -0.117
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b068.jpg",
"gt": "sim/b068_depth.npy",
"scene": "07",
"run": "l31rts3_pi",
"step": 288,
"pose": {
"x": -6.0,
"y": -0.437,
"yaw": 2.332
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0977078137706968,
"goal_dist": 4.38116326820604,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"start_pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b069.jpg",
"gt": "sim/b069_depth.npy",
"scene": "07",
"run": "l39rts1_pi",
"step": 240,
"pose": {
"x": -5.344,
"y": -0.305,
"yaw": 1.453
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b070.jpg",
"gt": "sim/b070_depth.npy",
"scene": "07",
"run": "l36rts3_pi",
"step": 432,
"pose": {
"x": -4.962,
"y": -1.621,
"yaw": 1.834
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1125344085335023,
"goal_dist": 4.392901102752169,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"start_pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b071.jpg",
"gt": "sim/b071_depth.npy",
"scene": "09",
"run": "l32rts1_pi",
"step": 96,
"pose": {
"x": -4.111,
"y": 1.227,
"yaw": 0.944
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 0.9920346534474156,
"goal_dist": 4.403722748855852,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.4137959480285645,
0.14602616429328918,
0.07939841598272324
],
"start_pose": [
-5.4137959480285645,
0.14602616429328918,
0.07939841598272324
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b072.jpg",
"gt": "sim/b072_depth.npy",
"scene": "07",
"run": "l36rt_pi",
"step": 0,
"pose": {
"x": -6.743,
"y": -1.464,
"yaw": -0.117
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.163721260395854,
"goal_dist": 4.476072347035569,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"start_pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b073.jpg",
"gt": "sim/b073_depth.npy",
"scene": "07",
"run": "l30rts2_pi",
"step": 336,
"pose": {
"x": -6.389,
"y": 0.136,
"yaw": -0.686
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b074.jpg",
"gt": "sim/b074_depth.npy",
"scene": "08",
"run": "l39rt_pi",
"step": 48,
"pose": {
"x": -5.9,
"y": -0.704,
"yaw": 0.547
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b075.jpg",
"gt": "sim/b075_depth.npy",
"scene": "07",
"run": "l32rts2_pi",
"step": 240,
"pose": {
"x": -5.911,
"y": -0.096,
"yaw": 1.875
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b076.jpg",
"gt": "sim/b076_depth.npy",
"scene": "09",
"run": "l36rts2_pi",
"step": 144,
"pose": {
"x": -3.729,
"y": 1.851,
"yaw": 1.086
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0735907520835086,
"goal_dist": 4.499334813189223,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.533758163452148,
0.10346436500549316,
-0.02103535458445549
],
"start_pose": [
-5.533758163452148,
0.10346436500549316,
-0.02103535458445549
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b077.jpg",
"gt": "sim/b077_depth.npy",
"scene": "08",
"run": "l30rts3_pi",
"step": 480,
"pose": {
"x": -5.46,
"y": 1.23,
"yaw": 0.776
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0134017117234793,
"goal_dist": 4.3837676077676235,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"start_pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b078.jpg",
"gt": "sim/b078_depth.npy",
"scene": "08",
"run": "l37rts3_pi",
"step": 144,
"pose": {
"x": -5.458,
"y": 0.236,
"yaw": 0.818
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0219922283211336,
"goal_dist": 4.385453121333373,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.971035480499268,
-0.7426347732543945,
0.005792904179543257
],
"start_pose": [
-5.971035480499268,
-0.7426347732543945,
0.005792904179543257
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b079.jpg",
"gt": "sim/b079_depth.npy",
"scene": "08",
"run": "l35rts1_pi",
"step": 144,
"pose": {
"x": -5.315,
"y": 0.488,
"yaw": 1.378
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.052434493135312,
"goal_dist": 4.379217071788369,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"start_pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b080.jpg",
"gt": "sim/b080_depth.npy",
"scene": "09",
"run": "l37rts3_pi",
"step": 96,
"pose": {
"x": -4.006,
"y": 1.423,
"yaw": 0.997
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0054399465985693,
"goal_dist": 4.439587264652784,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.447037696838379,
0.12334861606359482,
0.061865925788879395
],
"start_pose": [
-5.447037696838379,
0.12334861606359482,
0.061865925788879395
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b081.jpg",
"gt": "sim/b081_depth.npy",
"scene": "07",
"run": "l35rt_pi",
"step": 480,
"pose": {
"x": -5.491,
"y": 2.404,
"yaw": 0.099
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b082.jpg",
"gt": "sim/b082_depth.npy",
"scene": "09",
"run": "l32rts1_pi",
"step": 48,
"pose": {
"x": -4.704,
"y": 0.529,
"yaw": 0.623
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 0.9920346534474156,
"goal_dist": 4.403722748855852,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.4137959480285645,
0.14602616429328918,
0.07939841598272324
],
"start_pose": [
-5.4137959480285645,
0.14602616429328918,
0.07939841598272324
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b083.jpg",
"gt": "sim/b083_depth.npy",
"scene": "08",
"run": "l37rt_pi",
"step": 192,
"pose": {
"x": -5.292,
"y": 0.99,
"yaw": 1.562
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b084.jpg",
"gt": "sim/b084_depth.npy",
"scene": "07",
"run": "l30rts3_pi",
"step": 96,
"pose": {
"x": -5.555,
"y": -0.789,
"yaw": 0.67
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1143662039435407,
"goal_dist": 4.392312203790581,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.625919342041016,
-1.4343109130859375,
-0.047499969601631165
],
"start_pose": [
-6.625919342041016,
-1.4343109130859375,
-0.047499969601631165
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b085.jpg",
"gt": "sim/b085_depth.npy",
"scene": "08",
"run": "l30rt_pi",
"step": 480,
"pose": {
"x": -4.975,
"y": 2.079,
"yaw": 0.659
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b086.jpg",
"gt": "sim/b086_depth.npy",
"scene": "08",
"run": "l35rts1_pi",
"step": 0,
"pose": {
"x": -5.937,
"y": -0.756,
"yaw": -0.016
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.052434493135312,
"goal_dist": 4.379217071788369,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"start_pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b087.jpg",
"gt": "sim/b087_depth.npy",
"scene": "08",
"run": "l39rts3_pi",
"step": 288,
"pose": {
"x": -5.44,
"y": 1.12,
"yaw": 1.771
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b088.jpg",
"gt": "sim/b088_depth.npy",
"scene": "07",
"run": "l37rts3_pi",
"step": 576,
"pose": {
"x": -6.264,
"y": 2.216,
"yaw": 0.522
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1144033344927173,
"goal_dist": 4.4007247540828525,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.650446891784668,
-1.4303216934204102,
-0.05285553261637688
],
"start_pose": [
-6.650446891784668,
-1.4303216934204102,
-0.05285553261637688
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b089.jpg",
"gt": "sim/b089_depth.npy",
"scene": "08",
"run": "l35rt_pi",
"step": 144,
"pose": {
"x": -5.255,
"y": 0.809,
"yaw": 1.565
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b090.jpg",
"gt": "sim/b090_depth.npy",
"scene": "08",
"run": "l39rts4_pi",
"step": 528,
"pose": {
"x": -5.453,
"y": 1.698,
"yaw": 1.155
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0656937781423945,
"goal_dist": 4.362469034805457,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903979301452637,
-0.7557083368301392,
-0.02319949120283127
],
"start_pose": [
-5.903979301452637,
-0.7557083368301392,
-0.02319949120283127
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b091.jpg",
"gt": "sim/b091_depth.npy",
"scene": "07",
"run": "l35rt_pi",
"step": 336,
"pose": {
"x": -6.879,
"y": 0.584,
"yaw": 2.061
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b092.jpg",
"gt": "sim/b092_depth.npy",
"scene": "08",
"run": "l30rts3_pi",
"step": 144,
"pose": {
"x": -5.282,
"y": 0.595,
"yaw": 1.562
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0134017117234793,
"goal_dist": 4.3837676077676235,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"start_pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b093.jpg",
"gt": "sim/b093_depth.npy",
"scene": "09",
"run": "l32rts3_pi",
"step": 240,
"pose": {
"x": -3.529,
"y": 2.656,
"yaw": 1.36
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0496308833818944,
"goal_dist": 4.44777329229613,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"start_pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b094.jpg",
"gt": "sim/b094_depth.npy",
"scene": "07",
"run": "l37rt_pi",
"step": 240,
"pose": {
"x": -5.765,
"y": -0.603,
"yaw": 0.617
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.163721260395854,
"goal_dist": 4.476072347035569,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"start_pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b095.jpg",
"gt": "sim/b095_depth.npy",
"scene": "07",
"run": "l37rts3_pi",
"step": 336,
"pose": {
"x": -5.667,
"y": -0.553,
"yaw": 2.355
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1144033344927173,
"goal_dist": 4.4007247540828525,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.650446891784668,
-1.4303216934204102,
-0.05285553261637688
],
"start_pose": [
-6.650446891784668,
-1.4303216934204102,
-0.05285553261637688
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b096.jpg",
"gt": "sim/b096_depth.npy",
"scene": "07",
"run": "l35rts4_pi",
"step": 624,
"pose": {
"x": -6.863,
"y": 2.013,
"yaw": 1.105
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b097.jpg",
"gt": "sim/b097_depth.npy",
"scene": "07",
"run": "l30rts4_pi",
"step": 672,
"pose": {
"x": -6.646,
"y": -0.31,
"yaw": 0.665
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b098.jpg",
"gt": "sim/b098_depth.npy",
"scene": "08",
"run": "l39rts1_pi",
"step": 384,
"pose": {
"x": -5.366,
"y": 0.392,
"yaw": 1.126
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b099.jpg",
"gt": "sim/b099_depth.npy",
"scene": "07",
"run": "l39rt_pi",
"step": 240,
"pose": {
"x": -5.465,
"y": -0.293,
"yaw": 1.478
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1636750029778504,
"goal_dist": 4.476058995893254,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"start_pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b100.jpg",
"gt": "sim/b100_depth.npy",
"scene": "08",
"run": "l35rts3_pi",
"step": 0,
"pose": {
"x": -5.964,
"y": -0.739,
"yaw": 0.024
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b101.jpg",
"gt": "sim/b101_depth.npy",
"scene": "07",
"run": "l36rts4_pi",
"step": 528,
"pose": {
"x": -6.931,
"y": 1.255,
"yaw": 1.505
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b102.jpg",
"gt": "sim/b102_depth.npy",
"scene": "07",
"run": "l31rts4_pi",
"step": 336,
"pose": {
"x": -5.835,
"y": 0.098,
"yaw": 0.901
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b103.jpg",
"gt": "sim/b103_depth.npy",
"scene": "08",
"run": "l39rts4_pi",
"step": 432,
"pose": {
"x": -6.242,
"y": 0.057,
"yaw": 0.563
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0656937781423945,
"goal_dist": 4.362469034805457,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903979301452637,
-0.7557083368301392,
-0.02319949120283127
],
"start_pose": [
-5.903979301452637,
-0.7557083368301392,
-0.02319949120283127
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b104.jpg",
"gt": "sim/b104_depth.npy",
"scene": "08",
"run": "l32rt_pi",
"step": 0,
"pose": {
"x": -5.96,
"y": -0.889,
"yaw": 0.021
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b105.jpg",
"gt": "sim/b105_depth.npy",
"scene": "07",
"run": "l37rt_pi",
"step": 528,
"pose": {
"x": -6.078,
"y": 0.095,
"yaw": 1.638
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.163721260395854,
"goal_dist": 4.476072347035569,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"start_pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b106.jpg",
"gt": "sim/b106_depth.npy",
"scene": "07",
"run": "l36rt_pi",
"step": 48,
"pose": {
"x": -6.027,
"y": -1.21,
"yaw": 0.508
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.163721260395854,
"goal_dist": 4.476072347035569,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"start_pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b107.jpg",
"gt": "sim/b107_depth.npy",
"scene": "07",
"run": "l39rts2_pi",
"step": 528,
"pose": {
"x": -6.836,
"y": 0.573,
"yaw": 1.787
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b108.jpg",
"gt": "sim/b108_depth.npy",
"scene": "08",
"run": "l30rt_pi",
"step": 432,
"pose": {
"x": -5.654,
"y": 1.503,
"yaw": 0.871
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b109.jpg",
"gt": "sim/b109_depth.npy",
"scene": "07",
"run": "l31rts2_pi",
"step": 144,
"pose": {
"x": -5.904,
"y": -0.802,
"yaw": 1.206
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.035300380161921,
"goal_dist": 4.462205488970064,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827231407165527,
-1.3983174562454224,
-0.011849521659314632
],
"start_pose": [
-6.827231407165527,
-1.3983174562454224,
-0.011849521659314632
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b110.jpg",
"gt": "sim/b110_depth.npy",
"scene": "08",
"run": "l39rts3_pi",
"step": 144,
"pose": {
"x": -5.33,
"y": 0.312,
"yaw": 1.012
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b111.jpg",
"gt": "sim/b111_depth.npy",
"scene": "08",
"run": "l38rt_pi",
"step": 336,
"pose": {
"x": -4.279,
"y": 2.762,
"yaw": 0.503
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b112.jpg",
"gt": "sim/b112_depth.npy",
"scene": "08",
"run": "l36rts2_pi",
"step": 432,
"pose": {
"x": -5.813,
"y": 1.309,
"yaw": 0.191
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812361363647957,
"goal_dist": 4.599563860642721,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"start_pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b113.jpg",
"gt": "sim/b113_depth.npy",
"scene": "07",
"run": "l30rts2_pi",
"step": 672,
"pose": {
"x": -5.565,
"y": 2.295,
"yaw": 0.14
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b114.jpg",
"gt": "sim/b114_depth.npy",
"scene": "07",
"run": "l39rts4_pi",
"step": 336,
"pose": {
"x": -5.813,
"y": -0.09,
"yaw": 1.071
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b115.jpg",
"gt": "sim/b115_depth.npy",
"scene": "08",
"run": "l30rts2_pi",
"step": 432,
"pose": {
"x": -5.225,
"y": 2.22,
"yaw": 0.954
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812860432311268,
"goal_dist": 4.599606452197891,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"start_pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b116.jpg",
"gt": "sim/b116_depth.npy",
"scene": "08",
"run": "l30rts1_pi",
"step": 336,
"pose": {
"x": -5.422,
"y": 1.354,
"yaw": 0.111
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b117.jpg",
"gt": "sim/b117_depth.npy",
"scene": "09",
"run": "l35rts3_pi",
"step": 240,
"pose": {
"x": -3.52,
"y": 2.714,
"yaw": 1.37
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0493114819823788,
"goal_dist": 4.4478426418030255,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"start_pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b118.jpg",
"gt": "sim/b118_depth.npy",
"scene": "08",
"run": "l38rt_pi",
"step": 96,
"pose": {
"x": -5.437,
"y": 0.094,
"yaw": 1.255
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b119.jpg",
"gt": "sim/b119_depth.npy",
"scene": "09",
"run": "l37rts4_pi",
"step": 0,
"pose": {
"x": -5.577,
"y": 0.06,
"yaw": -0.017
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b120.jpg",
"gt": "sim/b120_depth.npy",
"scene": "09",
"run": "l30rts3_pi",
"step": 144,
"pose": {
"x": -3.744,
"y": 1.923,
"yaw": 1.198
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0496308833818944,
"goal_dist": 4.44777329229613,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"start_pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b121.jpg",
"gt": "sim/b121_depth.npy",
"scene": "07",
"run": "l36rts4_pi",
"step": 576,
"pose": {
"x": -6.404,
"y": 2.034,
"yaw": 0.718
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b122.jpg",
"gt": "sim/b122_depth.npy",
"scene": "08",
"run": "l31rt_pi",
"step": 192,
"pose": {
"x": -5.287,
"y": 0.398,
"yaw": 1.073
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b123.jpg",
"gt": "sim/b123_depth.npy",
"scene": "07",
"run": "l36rts1_pi",
"step": 336,
"pose": {
"x": -6.111,
"y": -0.383,
"yaw": 1.571
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b124.jpg",
"gt": "sim/b124_depth.npy",
"scene": "09",
"run": "l30rts4_pi",
"step": 0,
"pose": {
"x": -5.577,
"y": 0.06,
"yaw": -0.017
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0659065410710387,
"goal_dist": 4.558520501100509,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577022075653076,
0.06003531813621521,
-0.01687648519873619
],
"start_pose": [
-5.577022075653076,
0.06003531813621521,
-0.01687648519873619
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b125.jpg",
"gt": "sim/b125_depth.npy",
"scene": "07",
"run": "l37rts4_pi",
"step": 0,
"pose": {
"x": -7.219,
"y": -0.888,
"yaw": 2.705
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b126.jpg",
"gt": "sim/b126_depth.npy",
"scene": "08",
"run": "l36rt_pi",
"step": 144,
"pose": {
"x": -5.263,
"y": 0.485,
"yaw": 1.513
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b127.jpg",
"gt": "sim/b127_depth.npy",
"scene": "08",
"run": "l31rts4_pi",
"step": 0,
"pose": {
"x": -5.904,
"y": -0.756,
"yaw": -0.021
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.06372651602842,
"goal_dist": 4.362609683895006,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"start_pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b128.jpg",
"gt": "sim/b128_depth.npy",
"scene": "07",
"run": "l35rts2_pi",
"step": 96,
"pose": {
"x": -5.771,
"y": -0.571,
"yaw": 0.993
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0353774012943315,
"goal_dist": 4.46222005500218,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"start_pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b129.jpg",
"gt": "sim/b129_depth.npy",
"scene": "07",
"run": "l37rts2_pi",
"step": 336,
"pose": {
"x": -5.863,
"y": 0.136,
"yaw": 1.919
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0360133859903682,
"goal_dist": 4.462255003294282,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827289581298828,
-1.3983399868011475,
-0.012571032159030437
],
"start_pose": [
-6.827289581298828,
-1.3983399868011475,
-0.012571032159030437
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b130.jpg",
"gt": "sim/b130_depth.npy",
"scene": "09",
"run": "l36rts1_pi",
"step": 192,
"pose": {
"x": -3.538,
"y": 2.776,
"yaw": 1.255
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0953690352223298,
"goal_dist": 4.426544318532845,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.452375411987305,
0.14120247960090637,
-0.031065410003066063
],
"start_pose": [
-5.452375411987305,
0.14120247960090637,
-0.031065410003066063
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b131.jpg",
"gt": "sim/b131_depth.npy",
"scene": "08",
"run": "l32rt_pi",
"step": 192,
"pose": {
"x": -5.245,
"y": 0.369,
"yaw": 1.486
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b132.jpg",
"gt": "sim/b132_depth.npy",
"scene": "08",
"run": "l31rts2_pi",
"step": 384,
"pose": {
"x": -5.809,
"y": -0.265,
"yaw": 0.887
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.3334016230575871,
"goal_dist": 4.591965724026773,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"start_pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b133.jpg",
"gt": "sim/b133_depth.npy",
"scene": "07",
"run": "l37rts1_pi",
"step": 240,
"pose": {
"x": -5.471,
"y": -0.512,
"yaw": 1.94
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b134.jpg",
"gt": "sim/b134_depth.npy",
"scene": "08",
"run": "l37rts4_pi",
"step": 384,
"pose": {
"x": -5.688,
"y": 0.204,
"yaw": 1.101
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.06372651602842,
"goal_dist": 4.362609683895006,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"start_pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b135.jpg",
"gt": "sim/b135_depth.npy",
"scene": "08",
"run": "l30rts3_pi",
"step": 528,
"pose": {
"x": -5.459,
"y": 1.359,
"yaw": 0.283
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0134017117234793,
"goal_dist": 4.3837676077676235,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"start_pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b136.jpg",
"gt": "sim/b136_depth.npy",
"scene": "09",
"run": "l37rts1_pi",
"step": 96,
"pose": {
"x": -3.941,
"y": 1.485,
"yaw": 1.005
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0140430612791063,
"goal_dist": 4.399875065549819,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.411400318145752,
0.1491023451089859,
0.05753319710493088
],
"start_pose": [
-5.411400318145752,
0.1491023451089859,
0.05753319710493088
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b137.jpg",
"gt": "sim/b137_depth.npy",
"scene": "07",
"run": "l32rts3_pi",
"step": 96,
"pose": {
"x": -5.679,
"y": -0.841,
"yaw": 0.688
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0531004484830788,
"goal_dist": 4.396266107904996,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"start_pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b138.jpg",
"gt": "sim/b138_depth.npy",
"scene": "07",
"run": "l39rt_pi",
"step": 96,
"pose": {
"x": -5.737,
"y": -0.942,
"yaw": 0.55
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1636750029778504,
"goal_dist": 4.476058995893254,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"start_pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b139.jpg",
"gt": "sim/b139_depth.npy",
"scene": "07",
"run": "l32rts4_pi",
"step": 192,
"pose": {
"x": -5.898,
"y": 0.037,
"yaw": 1.128
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8194919002181296,
"goal_dist": 4.27262186734707,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.217599868774414,
-0.889075517654419,
2.7024357318878174
],
"start_pose": [
-7.217599868774414,
-0.889075517654419,
2.7024357318878174
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b140.jpg",
"gt": "sim/b140_depth.npy",
"scene": "08",
"run": "l30rts3_pi",
"step": 0,
"pose": {
"x": -5.969,
"y": -0.742,
"yaw": 0.015
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0134017117234793,
"goal_dist": 4.3837676077676235,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"start_pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b141.jpg",
"gt": "sim/b141_depth.npy",
"scene": "08",
"run": "l39rt_pi",
"step": 288,
"pose": {
"x": -5.261,
"y": 0.398,
"yaw": 1.211
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b142.jpg",
"gt": "sim/b142_depth.npy",
"scene": "07",
"run": "l32rt_pi",
"step": 576,
"pose": {
"x": -6.434,
"y": 0.068,
"yaw": 2.565
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b143.jpg",
"gt": "sim/b143_depth.npy",
"scene": "07",
"run": "l35rts2_pi",
"step": 48,
"pose": {
"x": -6.125,
"y": -1.063,
"yaw": 0.603
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0353774012943315,
"goal_dist": 4.46222005500218,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"start_pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b144.jpg",
"gt": "sim/b144_depth.npy",
"scene": "07",
"run": "l35rts1_pi",
"step": 192,
"pose": {
"x": -5.456,
"y": -0.506,
"yaw": 1.307
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b145.jpg",
"gt": "sim/b145_depth.npy",
"scene": "07",
"run": "l39rts2_pi",
"step": 48,
"pose": {
"x": -6.09,
"y": -1.055,
"yaw": 0.591
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b146.jpg",
"gt": "sim/b146_depth.npy",
"scene": "08",
"run": "l35rts4_pi",
"step": 480,
"pose": {
"x": -4.862,
"y": 0.782,
"yaw": 0.78
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.063850813252329,
"goal_dist": 4.362616849941857,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"start_pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b147.jpg",
"gt": "sim/b147_depth.npy",
"scene": "09",
"run": "l37rts4_pi",
"step": 192,
"pose": {
"x": -3.471,
"y": 3.476,
"yaw": 1.376
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b148.jpg",
"gt": "sim/b148_depth.npy",
"scene": "07",
"run": "l35rt_pi",
"step": 432,
"pose": {
"x": -6.383,
"y": 2.228,
"yaw": 0.619
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b149.jpg",
"gt": "sim/b149_depth.npy",
"scene": "08",
"run": "l39rt_pi",
"step": 144,
"pose": {
"x": -5.262,
"y": 0.547,
"yaw": 1.494
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b150.jpg",
"gt": "sim/b150_depth.npy",
"scene": "08",
"run": "l32rts2_pi",
"step": 384,
"pose": {
"x": -6.318,
"y": 1.268,
"yaw": -0.517
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812860432311268,
"goal_dist": 4.599606452197891,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"start_pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b151.jpg",
"gt": "sim/b151_depth.npy",
"scene": "08",
"run": "l30rt_pi",
"step": 288,
"pose": {
"x": -5.347,
"y": 0.447,
"yaw": -0.33
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b152.jpg",
"gt": "sim/b152_depth.npy",
"scene": "08",
"run": "l37rts4_pi",
"step": 528,
"pose": {
"x": -5.235,
"y": 2.655,
"yaw": 0.657
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.06372651602842,
"goal_dist": 4.362609683895006,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"start_pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b153.jpg",
"gt": "sim/b153_depth.npy",
"scene": "09",
"run": "l36rts4_pi",
"step": 144,
"pose": {
"x": -3.761,
"y": 1.792,
"yaw": 1.103
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b154.jpg",
"gt": "sim/b154_depth.npy",
"scene": "08",
"run": "l31rts2_pi",
"step": 432,
"pose": {
"x": -5.574,
"y": 0.579,
"yaw": 1.423
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.3334016230575871,
"goal_dist": 4.591965724026773,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"start_pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b155.jpg",
"gt": "sim/b155_depth.npy",
"scene": "07",
"run": "l39rts1_pi",
"step": 336,
"pose": {
"x": -5.157,
"y": -0.465,
"yaw": 2.018
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b156.jpg",
"gt": "sim/b156_depth.npy",
"scene": "09",
"run": "l32rts1_pi",
"step": 192,
"pose": {
"x": -3.537,
"y": 2.902,
"yaw": 1.37
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 0.9920346534474156,
"goal_dist": 4.403722748855852,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.4137959480285645,
0.14602616429328918,
0.07939841598272324
],
"start_pose": [
-5.4137959480285645,
0.14602616429328918,
0.07939841598272324
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b157.jpg",
"gt": "sim/b157_depth.npy",
"scene": "08",
"run": "l35rt_pi",
"step": 432,
"pose": {
"x": -5.642,
"y": 2.203,
"yaw": 1.186
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b158.jpg",
"gt": "sim/b158_depth.npy",
"scene": "08",
"run": "l30rts3_pi",
"step": 336,
"pose": {
"x": -4.955,
"y": 0.901,
"yaw": 0.217
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0134017117234793,
"goal_dist": 4.3837676077676235,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"start_pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b159.jpg",
"gt": "sim/b159_depth.npy",
"scene": "08",
"run": "l37rts2_pi",
"step": 240,
"pose": {
"x": -5.256,
"y": 0.427,
"yaw": -0.217
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2811300047864576,
"goal_dist": 4.599881223250546,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948878288269043,
-1.0034598112106323,
-0.2199154794216156
],
"start_pose": [
-5.948878288269043,
-1.0034598112106323,
-0.2199154794216156
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b160.jpg",
"gt": "sim/b160_depth.npy",
"scene": "09",
"run": "l35rts3_pi",
"step": 144,
"pose": {
"x": -4.194,
"y": 1.067,
"yaw": 0.89
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0493114819823788,
"goal_dist": 4.4478426418030255,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"start_pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b161.jpg",
"gt": "sim/b161_depth.npy",
"scene": "08",
"run": "l32rts3_pi",
"step": 288,
"pose": {
"x": -5.613,
"y": 0.206,
"yaw": 0.707
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b162.jpg",
"gt": "sim/b162_depth.npy",
"scene": "09",
"run": "l32rts3_pi",
"step": 192,
"pose": {
"x": -3.763,
"y": 1.815,
"yaw": 1.132
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0496308833818944,
"goal_dist": 4.44777329229613,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"start_pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b163.jpg",
"gt": "sim/b163_depth.npy",
"scene": "08",
"run": "l30rts3_pi",
"step": 192,
"pose": {
"x": -5.249,
"y": 0.394,
"yaw": 1.357
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0134017117234793,
"goal_dist": 4.3837676077676235,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"start_pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b164.jpg",
"gt": "sim/b164_depth.npy",
"scene": "07",
"run": "l30rts3_pi",
"step": 240,
"pose": {
"x": -6.122,
"y": -1.223,
"yaw": 1.16
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1143662039435407,
"goal_dist": 4.392312203790581,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.625919342041016,
-1.4343109130859375,
-0.047499969601631165
],
"start_pose": [
-6.625919342041016,
-1.4343109130859375,
-0.047499969601631165
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b165.jpg",
"gt": "sim/b165_depth.npy",
"scene": "07",
"run": "l37rts4_pi",
"step": 288,
"pose": {
"x": -5.807,
"y": 0.087,
"yaw": 1.155
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b166.jpg",
"gt": "sim/b166_depth.npy",
"scene": "09",
"run": "l36rts4_pi",
"step": 0,
"pose": {
"x": -5.577,
"y": 0.06,
"yaw": -0.017
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b167.jpg",
"gt": "sim/b167_depth.npy",
"scene": "07",
"run": "l37rts3_pi",
"step": 480,
"pose": {
"x": -6.773,
"y": 0.38,
"yaw": 2.446
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1144033344927173,
"goal_dist": 4.4007247540828525,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.650446891784668,
-1.4303216934204102,
-0.05285553261637688
],
"start_pose": [
-6.650446891784668,
-1.4303216934204102,
-0.05285553261637688
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b168.jpg",
"gt": "sim/b168_depth.npy",
"scene": "08",
"run": "l31rts3_pi",
"step": 48,
"pose": {
"x": -5.902,
"y": -0.577,
"yaw": 0.464
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0298107671823802,
"goal_dist": 4.373685139740647,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.958306312561035,
-0.736564040184021,
-0.0002510857302695513
],
"start_pose": [
-5.958306312561035,
-0.736564040184021,
-0.0002510857302695513
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b169.jpg",
"gt": "sim/b169_depth.npy",
"scene": "07",
"run": "l35rts2_pi",
"step": 336,
"pose": {
"x": -6.926,
"y": 0.829,
"yaw": 1.989
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0353774012943315,
"goal_dist": 4.46222005500218,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"start_pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b170.jpg",
"gt": "sim/b170_depth.npy",
"scene": "07",
"run": "l39rts3_pi",
"step": 288,
"pose": {
"x": -6.685,
"y": -1.151,
"yaw": 0.509
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1125344085335023,
"goal_dist": 4.392901102752169,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"start_pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b171.jpg",
"gt": "sim/b171_depth.npy",
"scene": "08",
"run": "l35rts3_pi",
"step": 96,
"pose": {
"x": -5.395,
"y": 0.149,
"yaw": 1.146
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b172.jpg",
"gt": "sim/b172_depth.npy",
"scene": "07",
"run": "l35rt_pi",
"step": 288,
"pose": {
"x": -6.383,
"y": -0.15,
"yaw": 2.324
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b173.jpg",
"gt": "sim/b173_depth.npy",
"scene": "07",
"run": "l32rts2_pi",
"step": 528,
"pose": {
"x": -6.283,
"y": 0.273,
"yaw": 0.673
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b174.jpg",
"gt": "sim/b174_depth.npy",
"scene": "09",
"run": "l37rts1_pi",
"step": 144,
"pose": {
"x": -3.592,
"y": 2.489,
"yaw": 1.339
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0140430612791063,
"goal_dist": 4.399875065549819,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.411400318145752,
0.1491023451089859,
0.05753319710493088
],
"start_pose": [
-5.411400318145752,
0.1491023451089859,
0.05753319710493088
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b175.jpg",
"gt": "sim/b175_depth.npy",
"scene": "08",
"run": "l38rt_pi",
"step": 0,
"pose": {
"x": -5.96,
"y": -0.889,
"yaw": 0.021
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b176.jpg",
"gt": "sim/b176_depth.npy",
"scene": "08",
"run": "l31rts1_pi",
"step": 144,
"pose": {
"x": -5.343,
"y": 0.556,
"yaw": 1.526
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b177.jpg",
"gt": "sim/b177_depth.npy",
"scene": "08",
"run": "l37rts4_pi",
"step": 288,
"pose": {
"x": -5.43,
"y": 0.29,
"yaw": 0.892
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.06372651602842,
"goal_dist": 4.362609683895006,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"start_pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b178.jpg",
"gt": "sim/b178_depth.npy",
"scene": "07",
"run": "l35rt_pi",
"step": 192,
"pose": {
"x": -5.647,
"y": -0.93,
"yaw": 1.554
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b179.jpg",
"gt": "sim/b179_depth.npy",
"scene": "07",
"run": "l35rts2_pi",
"step": 0,
"pose": {
"x": -6.827,
"y": -1.398,
"yaw": -0.012
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0353774012943315,
"goal_dist": 4.46222005500218,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"start_pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b180.jpg",
"gt": "sim/b180_depth.npy",
"scene": "08",
"run": "l32rts2_pi",
"step": 144,
"pose": {
"x": -5.308,
"y": 0.187,
"yaw": 0.69
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812860432311268,
"goal_dist": 4.599606452197891,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"start_pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b181.jpg",
"gt": "sim/b181_depth.npy",
"scene": "07",
"run": "l30rts3_pi",
"step": 192,
"pose": {
"x": -6.096,
"y": -1.383,
"yaw": 1.052
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1143662039435407,
"goal_dist": 4.392312203790581,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.625919342041016,
-1.4343109130859375,
-0.047499969601631165
],
"start_pose": [
-6.625919342041016,
-1.4343109130859375,
-0.047499969601631165
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b182.jpg",
"gt": "sim/b182_depth.npy",
"scene": "09",
"run": "l39rts1_pi",
"step": 192,
"pose": {
"x": -3.502,
"y": 2.876,
"yaw": 1.35
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0150618752349905,
"goal_dist": 4.399780984451716,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.410486698150635,
0.1487114429473877,
0.05673922598361969
],
"start_pose": [
-5.410486698150635,
0.1487114429473877,
0.05673922598361969
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b183.jpg",
"gt": "sim/b183_depth.npy",
"scene": "08",
"run": "l39rts2_pi",
"step": 336,
"pose": {
"x": -4.391,
"y": 2.718,
"yaw": 0.577
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812860432311268,
"goal_dist": 4.599606452197891,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"start_pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b184.jpg",
"gt": "sim/b184_depth.npy",
"scene": "09",
"run": "l35rts3_pi",
"step": 288,
"pose": {
"x": -3.38,
"y": 3.582,
"yaw": 1.417
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0493114819823788,
"goal_dist": 4.4478426418030255,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"start_pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b185.jpg",
"gt": "sim/b185_depth.npy",
"scene": "08",
"run": "l30rt_pi",
"step": 528,
"pose": {
"x": -4.264,
"y": 2.627,
"yaw": 0.66
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b186.jpg",
"gt": "sim/b186_depth.npy",
"scene": "08",
"run": "l35rts2_pi",
"step": 48,
"pose": {
"x": -5.802,
"y": -1.028,
"yaw": -0.186
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2803984739794423,
"goal_dist": 4.599771232400724,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948699951171875,
-1.0034334659576416,
-0.21915289759635925
],
"start_pose": [
-5.948699951171875,
-1.0034334659576416,
-0.21915289759635925
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b187.jpg",
"gt": "sim/b187_depth.npy",
"scene": "08",
"run": "l36rts2_pi",
"step": 288,
"pose": {
"x": -5.348,
"y": 0.442,
"yaw": -0.368
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812361363647957,
"goal_dist": 4.599563860642721,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"start_pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b188.jpg",
"gt": "sim/b188_depth.npy",
"scene": "08",
"run": "l30rts4_pi",
"step": 288,
"pose": {
"x": -4.297,
"y": 2.722,
"yaw": 0.373
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0656980650986787,
"goal_dist": 4.362472862750087,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903984546661377,
-0.755709707736969,
-0.023204658180475235
],
"start_pose": [
-5.903984546661377,
-0.755709707736969,
-0.023204658180475235
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b189.jpg",
"gt": "sim/b189_depth.npy",
"scene": "08",
"run": "l32rts4_pi",
"step": 96,
"pose": {
"x": -5.502,
"y": -0.266,
"yaw": 0.659
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0638077715938437,
"goal_dist": 4.362615579063135,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903452396392822,
-0.7561854720115662,
-0.021154044196009636
],
"start_pose": [
-5.903452396392822,
-0.7561854720115662,
-0.021154044196009636
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b190.jpg",
"gt": "sim/b190_depth.npy",
"scene": "08",
"run": "l39rts4_pi",
"step": 96,
"pose": {
"x": -5.662,
"y": -0.39,
"yaw": 0.659
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0656937781423945,
"goal_dist": 4.362469034805457,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903979301452637,
-0.7557083368301392,
-0.02319949120283127
],
"start_pose": [
-5.903979301452637,
-0.7557083368301392,
-0.02319949120283127
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b191.jpg",
"gt": "sim/b191_depth.npy",
"scene": "08",
"run": "l35rts3_pi",
"step": 288,
"pose": {
"x": -5.248,
"y": 0.456,
"yaw": 1.101
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b192.jpg",
"gt": "sim/b192_depth.npy",
"scene": "09",
"run": "l36rts3_pi",
"step": 96,
"pose": {
"x": -4.798,
"y": 0.437,
"yaw": 0.586
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0493114819823788,
"goal_dist": 4.4478426418030255,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"start_pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b193.jpg",
"gt": "sim/b193_depth.npy",
"scene": "07",
"run": "l37rts4_pi",
"step": 624,
"pose": {
"x": -6.051,
"y": -0.263,
"yaw": 0.574
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b194.jpg",
"gt": "sim/b194_depth.npy",
"scene": "08",
"run": "l37rts2_pi",
"step": 432,
"pose": {
"x": -5.381,
"y": 1.215,
"yaw": 0.367
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2811300047864576,
"goal_dist": 4.599881223250546,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948878288269043,
-1.0034598112106323,
-0.2199154794216156
],
"start_pose": [
-5.948878288269043,
-1.0034598112106323,
-0.2199154794216156
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b195.jpg",
"gt": "sim/b195_depth.npy",
"scene": "07",
"run": "l30rts2_pi",
"step": 288,
"pose": {
"x": -5.795,
"y": 0.002,
"yaw": -0.07
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b196.jpg",
"gt": "sim/b196_depth.npy",
"scene": "07",
"run": "l31rts4_pi",
"step": 528,
"pose": {
"x": -5.94,
"y": -0.265,
"yaw": 0.856
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b197.jpg",
"gt": "sim/b197_depth.npy",
"scene": "08",
"run": "l36rts4_pi",
"step": 240,
"pose": {
"x": -5.467,
"y": 1.222,
"yaw": 1.801
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0638539521596648,
"goal_dist": 4.36263073594423,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903496265411377,
-0.7561774253845215,
-0.02120983973145485
],
"start_pose": [
-5.903496265411377,
-0.7561774253845215,
-0.02120983973145485
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b198.jpg",
"gt": "sim/b198_depth.npy",
"scene": "07",
"run": "l35rts3_pi",
"step": 96,
"pose": {
"x": -5.657,
"y": -0.866,
"yaw": 0.618
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1099973095207947,
"goal_dist": 4.3720969940890395,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.5955634117126465,
-1.427892804145813,
-0.037759870290756226
],
"start_pose": [
-6.5955634117126465,
-1.427892804145813,
-0.037759870290756226
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b199.jpg",
"gt": "sim/b199_depth.npy",
"scene": "07",
"run": "l37rts4_pi",
"step": 192,
"pose": {
"x": -5.901,
"y": -0.057,
"yaw": 1.233
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b200.jpg",
"gt": "sim/b200_depth.npy",
"scene": "07",
"run": "l35rts4_pi",
"step": 96,
"pose": {
"x": -5.807,
"y": -1.283,
"yaw": 2.462
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b201.jpg",
"gt": "sim/b201_depth.npy",
"scene": "08",
"run": "l32rts3_pi",
"step": 384,
"pose": {
"x": -5.69,
"y": 0.914,
"yaw": 1.479
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b202.jpg",
"gt": "sim/b202_depth.npy",
"scene": "08",
"run": "l39rts2_pi",
"step": 288,
"pose": {
"x": -5.13,
"y": 2.195,
"yaw": 0.863
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812860432311268,
"goal_dist": 4.599606452197891,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"start_pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b203.jpg",
"gt": "sim/b203_depth.npy",
"scene": "08",
"run": "l31rts2_pi",
"step": 576,
"pose": {
"x": -4.341,
"y": 2.744,
"yaw": 0.474
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.3334016230575871,
"goal_dist": 4.591965724026773,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"start_pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b204.jpg",
"gt": "sim/b204_depth.npy",
"scene": "09",
"run": "l35rts1_pi",
"step": 96,
"pose": {
"x": -4.82,
"y": 0.451,
"yaw": 0.622
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1877258471530538,
"goal_dist": 4.428879097040533,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.461425304412842,
0.1435636281967163,
-0.1254676878452301
],
"start_pose": [
-5.461425304412842,
0.1435636281967163,
-0.1254676878452301
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b205.jpg",
"gt": "sim/b205_depth.npy",
"scene": "08",
"run": "l31rts4_pi",
"step": 96,
"pose": {
"x": -5.448,
"y": -0.23,
"yaw": 0.607
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.06372651602842,
"goal_dist": 4.362609683895006,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"start_pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b206.jpg",
"gt": "sim/b206_depth.npy",
"scene": "07",
"run": "l37rts2_pi",
"step": 480,
"pose": {
"x": -5.429,
"y": -0.649,
"yaw": 1.797
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0360133859903682,
"goal_dist": 4.462255003294282,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827289581298828,
-1.3983399868011475,
-0.012571032159030437
],
"start_pose": [
-6.827289581298828,
-1.3983399868011475,
-0.012571032159030437
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b207.jpg",
"gt": "sim/b207_depth.npy",
"scene": "08",
"run": "l31rt_pi",
"step": 336,
"pose": {
"x": -4.03,
"y": 1.338,
"yaw": 0.749
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b208.jpg",
"gt": "sim/b208_depth.npy",
"scene": "08",
"run": "l30rt_pi",
"step": 96,
"pose": {
"x": -5.435,
"y": -0.148,
"yaw": 0.797
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b209.jpg",
"gt": "sim/b209_depth.npy",
"scene": "07",
"run": "l36rts2_pi",
"step": 240,
"pose": {
"x": -5.989,
"y": -0.005,
"yaw": 1.828
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0356179834519974,
"goal_dist": 4.462240946247347,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983488082885742,
-0.012166662141680717
],
"start_pose": [
-6.8272480964660645,
-1.3983488082885742,
-0.012166662141680717
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b210.jpg",
"gt": "sim/b210_depth.npy",
"scene": "08",
"run": "l37rt_pi",
"step": 336,
"pose": {
"x": -5.549,
"y": 1.283,
"yaw": 1.939
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b211.jpg",
"gt": "sim/b211_depth.npy",
"scene": "07",
"run": "l31rts4_pi",
"step": 48,
"pose": {
"x": -6.493,
"y": -1.009,
"yaw": 2.817
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b212.jpg",
"gt": "sim/b212_depth.npy",
"scene": "08",
"run": "l37rts4_pi",
"step": 96,
"pose": {
"x": -5.346,
"y": -0.086,
"yaw": 0.861
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.06372651602842,
"goal_dist": 4.362609683895006,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"start_pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b213.jpg",
"gt": "sim/b213_depth.npy",
"scene": "07",
"run": "l32rt_pi",
"step": 144,
"pose": {
"x": -5.482,
"y": -0.581,
"yaw": 1.008
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b214.jpg",
"gt": "sim/b214_depth.npy",
"scene": "07",
"run": "l30rt_pi",
"step": 288,
"pose": {
"x": -5.513,
"y": -0.587,
"yaw": 1.054
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637220570846987,
"goal_dist": 4.476064702929715,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742983818054199,
-1.4644137620925903,
-0.1165119856595993
],
"start_pose": [
-6.742983818054199,
-1.4644137620925903,
-0.1165119856595993
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b215.jpg",
"gt": "sim/b215_depth.npy",
"scene": "08",
"run": "l31rts2_pi",
"step": 240,
"pose": {
"x": -5.278,
"y": 0.532,
"yaw": 1.469
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.3334016230575871,
"goal_dist": 4.591965724026773,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"start_pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b216.jpg",
"gt": "sim/b216_depth.npy",
"scene": "08",
"run": "l35rts4_pi",
"step": 624,
"pose": {
"x": -5.977,
"y": 0.072,
"yaw": 0.77
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.063850813252329,
"goal_dist": 4.362616849941857,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"start_pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b217.jpg",
"gt": "sim/b217_depth.npy",
"scene": "08",
"run": "l37rts2_pi",
"step": 96,
"pose": {
"x": -5.687,
"y": -0.265,
"yaw": 0.912
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2811300047864576,
"goal_dist": 4.599881223250546,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948878288269043,
-1.0034598112106323,
-0.2199154794216156
],
"start_pose": [
-5.948878288269043,
-1.0034598112106323,
-0.2199154794216156
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b218.jpg",
"gt": "sim/b218_depth.npy",
"scene": "08",
"run": "l36rts2_pi",
"step": 384,
"pose": {
"x": -6.461,
"y": 1.269,
"yaw": -0.481
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812361363647957,
"goal_dist": 4.599563860642721,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"start_pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b219.jpg",
"gt": "sim/b219_depth.npy",
"scene": "09",
"run": "l35rts2_pi",
"step": 96,
"pose": {
"x": -4.234,
"y": 1.083,
"yaw": 0.791
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.066273677893978,
"goal_dist": 4.49999204633244,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"start_pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b220.jpg",
"gt": "sim/b220_depth.npy",
"scene": "09",
"run": "l31rts3_pi",
"step": 144,
"pose": {
"x": -3.74,
"y": 1.885,
"yaw": 1.171
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 0.9971958587904028,
"goal_dist": 4.4513871919884584,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.430481433868408,
0.10083948075771332,
0.0758076012134552
],
"start_pose": [
-5.430481433868408,
0.10083948075771332,
0.0758076012134552
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b221.jpg",
"gt": "sim/b221_depth.npy",
"scene": "08",
"run": "l31rts2_pi",
"step": 528,
"pose": {
"x": -5.131,
"y": 2.287,
"yaw": 0.836
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.3334016230575871,
"goal_dist": 4.591965724026773,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"start_pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b222.jpg",
"gt": "sim/b222_depth.npy",
"scene": "07",
"run": "l31rts3_pi",
"step": 432,
"pose": {
"x": -6.977,
"y": 0.898,
"yaw": 1.893
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0977078137706968,
"goal_dist": 4.38116326820604,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"start_pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b223.jpg",
"gt": "sim/b223_depth.npy",
"scene": "09",
"run": "l38rt_pi",
"step": 192,
"pose": {
"x": -3.496,
"y": 2.818,
"yaw": 1.327
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0851010253854874,
"goal_dist": 4.466339804251912,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.528200149536133,
0.13829733431339264,
-0.03532786667346954
],
"start_pose": [
-5.528200149536133,
0.13829733431339264,
-0.03532786667346954
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b224.jpg",
"gt": "sim/b224_depth.npy",
"scene": "07",
"run": "l32rts4_pi",
"step": 528,
"pose": {
"x": -6.421,
"y": -0.272,
"yaw": 0.714
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8194919002181296,
"goal_dist": 4.27262186734707,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.217599868774414,
-0.889075517654419,
2.7024357318878174
],
"start_pose": [
-7.217599868774414,
-0.889075517654419,
2.7024357318878174
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b225.jpg",
"gt": "sim/b225_depth.npy",
"scene": "07",
"run": "l37rts3_pi",
"step": 96,
"pose": {
"x": -5.553,
"y": -0.577,
"yaw": 1.024
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1144033344927173,
"goal_dist": 4.4007247540828525,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.650446891784668,
-1.4303216934204102,
-0.05285553261637688
],
"start_pose": [
-6.650446891784668,
-1.4303216934204102,
-0.05285553261637688
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b226.jpg",
"gt": "sim/b226_depth.npy",
"scene": "08",
"run": "l30rts2_pi",
"step": 144,
"pose": {
"x": -5.519,
"y": 0.16,
"yaw": 1.421
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812860432311268,
"goal_dist": 4.599606452197891,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"start_pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b227.jpg",
"gt": "sim/b227_depth.npy",
"scene": "08",
"run": "l39rts3_pi",
"step": 384,
"pose": {
"x": -5.467,
"y": 2.116,
"yaw": 1.197
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b228.jpg",
"gt": "sim/b228_depth.npy",
"scene": "08",
"run": "l31rt_pi",
"step": 432,
"pose": {
"x": -4.082,
"y": 1.363,
"yaw": 1.284
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b229.jpg",
"gt": "sim/b229_depth.npy",
"scene": "07",
"run": "l30rts4_pi",
"step": 0,
"pose": {
"x": -7.219,
"y": -0.888,
"yaw": 2.705
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b230.jpg",
"gt": "sim/b230_depth.npy",
"scene": "07",
"run": "l39rts4_pi",
"step": 528,
"pose": {
"x": -5.897,
"y": -0.442,
"yaw": 1.022
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b231.jpg",
"gt": "sim/b231_depth.npy",
"scene": "09",
"run": "l39rts1_pi",
"step": 96,
"pose": {
"x": -4.104,
"y": 1.222,
"yaw": 0.943
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0150618752349905,
"goal_dist": 4.399780984451716,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.410486698150635,
0.1487114429473877,
0.05673922598361969
],
"start_pose": [
-5.410486698150635,
0.1487114429473877,
0.05673922598361969
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b232.jpg",
"gt": "sim/b232_depth.npy",
"scene": "09",
"run": "l32rts2_pi",
"step": 192,
"pose": {
"x": -3.507,
"y": 2.763,
"yaw": 1.376
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0713219140191175,
"goal_dist": 4.498797926131017,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.533614158630371,
0.10400029271841049,
-0.018797719851136208
],
"start_pose": [
-5.533614158630371,
0.10400029271841049,
-0.018797719851136208
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b233.jpg",
"gt": "sim/b233_depth.npy",
"scene": "07",
"run": "l32rts1_pi",
"step": 96,
"pose": {
"x": -6.143,
"y": -0.808,
"yaw": 0.837
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b234.jpg",
"gt": "sim/b234_depth.npy",
"scene": "07",
"run": "l39rts4_pi",
"step": 288,
"pose": {
"x": -5.794,
"y": -0.1,
"yaw": 1.291
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b235.jpg",
"gt": "sim/b235_depth.npy",
"scene": "07",
"run": "l36rts1_pi",
"step": 624,
"pose": {
"x": -7.296,
"y": 1.696,
"yaw": 1.668
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b236.jpg",
"gt": "sim/b236_depth.npy",
"scene": "09",
"run": "l30rts2_pi",
"step": 48,
"pose": {
"x": -4.798,
"y": 0.439,
"yaw": 0.557
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0713219140191175,
"goal_dist": 4.498797926131017,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.533614158630371,
0.10400029271841049,
-0.018797719851136208
],
"start_pose": [
-5.533614158630371,
0.10400029271841049,
-0.018797719851136208
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b237.jpg",
"gt": "sim/b237_depth.npy",
"scene": "07",
"run": "l30rts2_pi",
"step": 624,
"pose": {
"x": -6.433,
"y": 2.146,
"yaw": 0.113
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b238.jpg",
"gt": "sim/b238_depth.npy",
"scene": "09",
"run": "l32rts4_pi",
"step": 192,
"pose": {
"x": -3.597,
"y": 2.835,
"yaw": 1.347
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b239.jpg",
"gt": "sim/b239_depth.npy",
"scene": "09",
"run": "l32rts4_pi",
"step": 144,
"pose": {
"x": -3.843,
"y": 1.976,
"yaw": 1.142
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b240.jpg",
"gt": "sim/b240_depth.npy",
"scene": "07",
"run": "l31rts3_pi",
"step": 240,
"pose": {
"x": -5.534,
"y": -1.067,
"yaw": 1.925
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0977078137706968,
"goal_dist": 4.38116326820604,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"start_pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b241.jpg",
"gt": "sim/b241_depth.npy",
"scene": "07",
"run": "l32rts3_pi",
"step": 480,
"pose": {
"x": -6.411,
"y": -0.221,
"yaw": 0.802
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0531004484830788,
"goal_dist": 4.396266107904996,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"start_pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b242.jpg",
"gt": "sim/b242_depth.npy",
"scene": "07",
"run": "l35rts3_pi",
"step": 432,
"pose": {
"x": -6.885,
"y": 0.746,
"yaw": 2.015
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1099973095207947,
"goal_dist": 4.3720969940890395,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.5955634117126465,
-1.427892804145813,
-0.037759870290756226
],
"start_pose": [
-6.5955634117126465,
-1.427892804145813,
-0.037759870290756226
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b243.jpg",
"gt": "sim/b243_depth.npy",
"scene": "07",
"run": "l37rt_pi",
"step": 384,
"pose": {
"x": -5.995,
"y": -0.126,
"yaw": 1.557
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.163721260395854,
"goal_dist": 4.476072347035569,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"start_pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b244.jpg",
"gt": "sim/b244_depth.npy",
"scene": "07",
"run": "l39rts2_pi",
"step": 336,
"pose": {
"x": -5.793,
"y": -0.186,
"yaw": 1.071
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b245.jpg",
"gt": "sim/b245_depth.npy",
"scene": "09",
"run": "l30rt_pi",
"step": 144,
"pose": {
"x": -3.714,
"y": 1.985,
"yaw": 1.141
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.07749339286236,
"goal_dist": 4.466323069513502,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.527299880981445,
0.13780008256435394,
-0.02748999372124672
],
"start_pose": [
-5.527299880981445,
0.13780008256435394,
-0.02748999372124672
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b246.jpg",
"gt": "sim/b246_depth.npy",
"scene": "07",
"run": "l36rts4_pi",
"step": 240,
"pose": {
"x": -5.891,
"y": 0.009,
"yaw": 1.246
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b247.jpg",
"gt": "sim/b247_depth.npy",
"scene": "09",
"run": "l30rt_pi",
"step": 192,
"pose": {
"x": -3.541,
"y": 2.86,
"yaw": 1.419
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.07749339286236,
"goal_dist": 4.466323069513502,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.527299880981445,
0.13780008256435394,
-0.02748999372124672
],
"start_pose": [
-5.527299880981445,
0.13780008256435394,
-0.02748999372124672
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b248.jpg",
"gt": "sim/b248_depth.npy",
"scene": "08",
"run": "l37rts2_pi",
"step": 288,
"pose": {
"x": -5.663,
"y": 0.5,
"yaw": 0.113
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2811300047864576,
"goal_dist": 4.599881223250546,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948878288269043,
-1.0034598112106323,
-0.2199154794216156
],
"start_pose": [
-5.948878288269043,
-1.0034598112106323,
-0.2199154794216156
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b249.jpg",
"gt": "sim/b249_depth.npy",
"scene": "07",
"run": "l30rts1_pi",
"step": 144,
"pose": {
"x": -5.877,
"y": -0.472,
"yaw": 1.217
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b250.jpg",
"gt": "sim/b250_depth.npy",
"scene": "07",
"run": "l31rt_pi",
"step": 336,
"pose": {
"x": -5.424,
"y": -0.372,
"yaw": 1.795
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637439708170625,
"goal_dist": 4.476062343298509,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.74298095703125,
-1.4644126892089844,
-0.11653346568346024
],
"start_pose": [
-6.74298095703125,
-1.4644126892089844,
-0.11653346568346024
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b251.jpg",
"gt": "sim/b251_depth.npy",
"scene": "07",
"run": "l31rts4_pi",
"step": 96,
"pose": {
"x": -5.807,
"y": -1.283,
"yaw": 2.464
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b252.jpg",
"gt": "sim/b252_depth.npy",
"scene": "07",
"run": "l36rts2_pi",
"step": 96,
"pose": {
"x": -5.775,
"y": -0.576,
"yaw": 0.982
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0356179834519974,
"goal_dist": 4.462240946247347,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983488082885742,
-0.012166662141680717
],
"start_pose": [
-6.8272480964660645,
-1.3983488082885742,
-0.012166662141680717
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b253.jpg",
"gt": "sim/b253_depth.npy",
"scene": "09",
"run": "l35rts1_pi",
"step": 240,
"pose": {
"x": -3.565,
"y": 2.82,
"yaw": 1.368
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1877258471530538,
"goal_dist": 4.428879097040533,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.461425304412842,
0.1435636281967163,
-0.1254676878452301
],
"start_pose": [
-5.461425304412842,
0.1435636281967163,
-0.1254676878452301
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b254.jpg",
"gt": "sim/b254_depth.npy",
"scene": "07",
"run": "l35rt_pi",
"step": 48,
"pose": {
"x": -6.026,
"y": -1.209,
"yaw": 0.509
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b255.jpg",
"gt": "sim/b255_depth.npy",
"scene": "08",
"run": "l30rts4_pi",
"step": 96,
"pose": {
"x": -5.644,
"y": -0.318,
"yaw": 0.681
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0656980650986787,
"goal_dist": 4.362472862750087,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903984546661377,
-0.755709707736969,
-0.023204658180475235
],
"start_pose": [
-5.903984546661377,
-0.755709707736969,
-0.023204658180475235
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b256.jpg",
"gt": "sim/b256_depth.npy",
"scene": "07",
"run": "l39rts4_pi",
"step": 240,
"pose": {
"x": -5.802,
"y": 0.017,
"yaw": 1.239
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b257.jpg",
"gt": "sim/b257_depth.npy",
"scene": "08",
"run": "l37rts3_pi",
"step": 288,
"pose": {
"x": -5.545,
"y": 2.008,
"yaw": 1.436
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0219922283211336,
"goal_dist": 4.385453121333373,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.971035480499268,
-0.7426347732543945,
0.005792904179543257
],
"start_pose": [
-5.971035480499268,
-0.7426347732543945,
0.005792904179543257
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b258.jpg",
"gt": "sim/b258_depth.npy",
"scene": "09",
"run": "l35rt_pi",
"step": 144,
"pose": {
"x": -3.718,
"y": 1.866,
"yaw": 1.029
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0851010253854874,
"goal_dist": 4.466339804251912,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.528200149536133,
0.13829733431339264,
-0.03532786667346954
],
"start_pose": [
-5.528200149536133,
0.13829733431339264,
-0.03532786667346954
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b259.jpg",
"gt": "sim/b259_depth.npy",
"scene": "07",
"run": "l35rts2_pi",
"step": 192,
"pose": {
"x": -5.939,
"y": -0.571,
"yaw": 1.493
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0353774012943315,
"goal_dist": 4.46222005500218,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"start_pose": [
-6.827272891998291,
-1.3983092308044434,
-0.011935440823435783
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b260.jpg",
"gt": "sim/b260_depth.npy",
"scene": "07",
"run": "l30rts2_pi",
"step": 240,
"pose": {
"x": -5.795,
"y": -0.004,
"yaw": -0.07
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b261.jpg",
"gt": "sim/b261_depth.npy",
"scene": "09",
"run": "l35rts2_pi",
"step": 144,
"pose": {
"x": -3.74,
"y": 1.842,
"yaw": 1.145
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.066273677893978,
"goal_dist": 4.49999204633244,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"start_pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b262.jpg",
"gt": "sim/b262_depth.npy",
"scene": "09",
"run": "l30rts4_pi",
"step": 48,
"pose": {
"x": -4.841,
"y": 0.396,
"yaw": 0.559
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0659065410710387,
"goal_dist": 4.558520501100509,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577022075653076,
0.06003531813621521,
-0.01687648519873619
],
"start_pose": [
-5.577022075653076,
0.06003531813621521,
-0.01687648519873619
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b263.jpg",
"gt": "sim/b263_depth.npy",
"scene": "09",
"run": "l37rts1_pi",
"step": 192,
"pose": {
"x": -3.358,
"y": 3.509,
"yaw": 1.337
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0140430612791063,
"goal_dist": 4.399875065549819,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.411400318145752,
0.1491023451089859,
0.05753319710493088
],
"start_pose": [
-5.411400318145752,
0.1491023451089859,
0.05753319710493088
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b264.jpg",
"gt": "sim/b264_depth.npy",
"scene": "07",
"run": "l35rts4_pi",
"step": 144,
"pose": {
"x": -6.043,
"y": -0.488,
"yaw": 1.658
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b265.jpg",
"gt": "sim/b265_depth.npy",
"scene": "07",
"run": "l37rts4_pi",
"step": 384,
"pose": {
"x": -5.806,
"y": 0.088,
"yaw": 1.365
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b266.jpg",
"gt": "sim/b266_depth.npy",
"scene": "09",
"run": "l35rts4_pi",
"step": 240,
"pose": {
"x": -3.386,
"y": 3.524,
"yaw": 1.399
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b267.jpg",
"gt": "sim/b267_depth.npy",
"scene": "09",
"run": "l30rts1_pi",
"step": 96,
"pose": {
"x": -4.109,
"y": 1.221,
"yaw": 0.943
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0141039141385502,
"goal_dist": 4.400055176001798,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.411611557006836,
0.14901238679885864,
0.057439982891082764
],
"start_pose": [
-5.411611557006836,
0.14901238679885864,
0.057439982891082764
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b268.jpg",
"gt": "sim/b268_depth.npy",
"scene": "09",
"run": "l36rts2_pi",
"step": 48,
"pose": {
"x": -4.845,
"y": 0.419,
"yaw": 0.583
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0735907520835086,
"goal_dist": 4.499334813189223,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.533758163452148,
0.10346436500549316,
-0.02103535458445549
],
"start_pose": [
-5.533758163452148,
0.10346436500549316,
-0.02103535458445549
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b269.jpg",
"gt": "sim/b269_depth.npy",
"scene": "08",
"run": "l36rts2_pi",
"step": 576,
"pose": {
"x": -4.182,
"y": 2.76,
"yaw": 0.554
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812361363647957,
"goal_dist": 4.599563860642721,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"start_pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b270.jpg",
"gt": "sim/b270_depth.npy",
"scene": "07",
"run": "l30rts4_pi",
"step": 432,
"pose": {
"x": -6.126,
"y": 0.119,
"yaw": 1.367
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b271.jpg",
"gt": "sim/b271_depth.npy",
"scene": "09",
"run": "l32rts3_pi",
"step": 0,
"pose": {
"x": -5.412,
"y": 0.095,
"yaw": 0.028
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0496308833818944,
"goal_dist": 4.44777329229613,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"start_pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b272.jpg",
"gt": "sim/b272_depth.npy",
"scene": "08",
"run": "l30rt_pi",
"step": 144,
"pose": {
"x": -5.301,
"y": 0.162,
"yaw": 0.766
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b273.jpg",
"gt": "sim/b273_depth.npy",
"scene": "08",
"run": "l32rts1_pi",
"step": 96,
"pose": {
"x": -5.621,
"y": -0.325,
"yaw": 0.727
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.052434493135312,
"goal_dist": 4.379217071788369,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"start_pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b274.jpg",
"gt": "sim/b274_depth.npy",
"scene": "08",
"run": "l36rts1_pi",
"step": 432,
"pose": {
"x": -5.838,
"y": 0.414,
"yaw": 0.419
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b275.jpg",
"gt": "sim/b275_depth.npy",
"scene": "08",
"run": "l30rts4_pi",
"step": 240,
"pose": {
"x": -5.116,
"y": 2.296,
"yaw": 0.92
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0656980650986787,
"goal_dist": 4.362472862750087,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903984546661377,
-0.755709707736969,
-0.023204658180475235
],
"start_pose": [
-5.903984546661377,
-0.755709707736969,
-0.023204658180475235
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b276.jpg",
"gt": "sim/b276_depth.npy",
"scene": "07",
"run": "l32rt_pi",
"step": 528,
"pose": {
"x": -5.779,
"y": -0.269,
"yaw": 2.748
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b277.jpg",
"gt": "sim/b277_depth.npy",
"scene": "09",
"run": "l36rts3_pi",
"step": 192,
"pose": {
"x": -3.756,
"y": 1.835,
"yaw": 1.139
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0493114819823788,
"goal_dist": 4.4478426418030255,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"start_pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b278.jpg",
"gt": "sim/b278_depth.npy",
"scene": "08",
"run": "l32rts2_pi",
"step": 192,
"pose": {
"x": -5.253,
"y": 0.391,
"yaw": -0.221
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812860432311268,
"goal_dist": 4.599606452197891,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"start_pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b279.jpg",
"gt": "sim/b279_depth.npy",
"scene": "08",
"run": "l32rts1_pi",
"step": 0,
"pose": {
"x": -5.937,
"y": -0.756,
"yaw": -0.016
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.052434493135312,
"goal_dist": 4.379217071788369,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"start_pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b280.jpg",
"gt": "sim/b280_depth.npy",
"scene": "08",
"run": "l36rt_pi",
"step": 288,
"pose": {
"x": -5.566,
"y": -0.261,
"yaw": 0.771
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b281.jpg",
"gt": "sim/b281_depth.npy",
"scene": "09",
"run": "l31rts3_pi",
"step": 48,
"pose": {
"x": -4.73,
"y": 0.468,
"yaw": 0.611
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 0.9971958587904028,
"goal_dist": 4.4513871919884584,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.430481433868408,
0.10083948075771332,
0.0758076012134552
],
"start_pose": [
-5.430481433868408,
0.10083948075771332,
0.0758076012134552
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b282.jpg",
"gt": "sim/b282_depth.npy",
"scene": "07",
"run": "l37rt_pi",
"step": 624,
"pose": {
"x": -6.063,
"y": -0.184,
"yaw": 1.259
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.163721260395854,
"goal_dist": 4.476072347035569,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"start_pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b283.jpg",
"gt": "sim/b283_depth.npy",
"scene": "07",
"run": "l30rts4_pi",
"step": 288,
"pose": {
"x": -5.988,
"y": 0.009,
"yaw": 1.022
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b284.jpg",
"gt": "sim/b284_depth.npy",
"scene": "08",
"run": "l36rts2_pi",
"step": 336,
"pose": {
"x": -5.912,
"y": 0.774,
"yaw": -0.789
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812361363647957,
"goal_dist": 4.599563860642721,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"start_pose": [
-5.948483467102051,
-1.003316879272461,
-0.21996183693408966
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b285.jpg",
"gt": "sim/b285_depth.npy",
"scene": "07",
"run": "l35rts1_pi",
"step": 48,
"pose": {
"x": -5.705,
"y": -1.02,
"yaw": 0.752
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b286.jpg",
"gt": "sim/b286_depth.npy",
"scene": "08",
"run": "l37rts3_pi",
"step": 96,
"pose": {
"x": -5.378,
"y": 0.247,
"yaw": 1.189
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0219922283211336,
"goal_dist": 4.385453121333373,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.971035480499268,
-0.7426347732543945,
0.005792904179543257
],
"start_pose": [
-5.971035480499268,
-0.7426347732543945,
0.005792904179543257
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b287.jpg",
"gt": "sim/b287_depth.npy",
"scene": "07",
"run": "l37rts4_pi",
"step": 336,
"pose": {
"x": -5.813,
"y": 0.111,
"yaw": 1.111
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b288.jpg",
"gt": "sim/b288_depth.npy",
"scene": "07",
"run": "l30rt_pi",
"step": 528,
"pose": {
"x": -5.887,
"y": -0.546,
"yaw": 1.339
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637220570846987,
"goal_dist": 4.476064702929715,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742983818054199,
-1.4644137620925903,
-0.1165119856595993
],
"start_pose": [
-6.742983818054199,
-1.4644137620925903,
-0.1165119856595993
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b289.jpg",
"gt": "sim/b289_depth.npy",
"scene": "08",
"run": "l30rts4_pi",
"step": 144,
"pose": {
"x": -5.374,
"y": 0.577,
"yaw": 1.475
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0656980650986787,
"goal_dist": 4.362472862750087,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903984546661377,
-0.755709707736969,
-0.023204658180475235
],
"start_pose": [
-5.903984546661377,
-0.755709707736969,
-0.023204658180475235
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b290.jpg",
"gt": "sim/b290_depth.npy",
"scene": "08",
"run": "l31rts1_pi",
"step": 240,
"pose": {
"x": -5.359,
"y": 0.942,
"yaw": 1.775
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b291.jpg",
"gt": "sim/b291_depth.npy",
"scene": "07",
"run": "l31rts4_pi",
"step": 240,
"pose": {
"x": -5.912,
"y": -0.066,
"yaw": 1.198
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b292.jpg",
"gt": "sim/b292_depth.npy",
"scene": "09",
"run": "l32rts3_pi",
"step": 144,
"pose": {
"x": -4.197,
"y": 1.062,
"yaw": 0.888
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0496308833818944,
"goal_dist": 4.44777329229613,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"start_pose": [
-5.412362575531006,
0.09515047073364258,
0.02756263129413128
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b293.jpg",
"gt": "sim/b293_depth.npy",
"scene": "08",
"run": "l38rt_pi",
"step": 48,
"pose": {
"x": -5.9,
"y": -0.705,
"yaw": 0.53
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b294.jpg",
"gt": "sim/b294_depth.npy",
"scene": "08",
"run": "l37rt_pi",
"step": 432,
"pose": {
"x": -5.549,
"y": 2.086,
"yaw": 1.259
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b295.jpg",
"gt": "sim/b295_depth.npy",
"scene": "09",
"run": "l39rts1_pi",
"step": 144,
"pose": {
"x": -3.707,
"y": 2.02,
"yaw": 1.219
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0150618752349905,
"goal_dist": 4.399780984451716,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.410486698150635,
0.1487114429473877,
0.05673922598361969
],
"start_pose": [
-5.410486698150635,
0.1487114429473877,
0.05673922598361969
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b296.jpg",
"gt": "sim/b296_depth.npy",
"scene": "07",
"run": "l31rts2_pi",
"step": 48,
"pose": {
"x": -6.09,
"y": -1.059,
"yaw": 0.582
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.035300380161921,
"goal_dist": 4.462205488970064,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827231407165527,
-1.3983174562454224,
-0.011849521659314632
],
"start_pose": [
-6.827231407165527,
-1.3983174562454224,
-0.011849521659314632
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b297.jpg",
"gt": "sim/b297_depth.npy",
"scene": "08",
"run": "l37rts2_pi",
"step": 624,
"pose": {
"x": -4.94,
"y": 2.33,
"yaw": 0.769
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2811300047864576,
"goal_dist": 4.599881223250546,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948878288269043,
-1.0034598112106323,
-0.2199154794216156
],
"start_pose": [
-5.948878288269043,
-1.0034598112106323,
-0.2199154794216156
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b298.jpg",
"gt": "sim/b298_depth.npy",
"scene": "07",
"run": "l31rts4_pi",
"step": 288,
"pose": {
"x": -5.896,
"y": -0.043,
"yaw": 1.256
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b299.jpg",
"gt": "sim/b299_depth.npy",
"scene": "08",
"run": "l36rt_pi",
"step": 48,
"pose": {
"x": -5.899,
"y": -0.708,
"yaw": 0.519
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b300.jpg",
"gt": "sim/b300_depth.npy",
"scene": "09",
"run": "l37rts3_pi",
"step": 0,
"pose": {
"x": -5.447,
"y": 0.123,
"yaw": 0.062
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0054399465985693,
"goal_dist": 4.439587264652784,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.447037696838379,
0.12334861606359482,
0.061865925788879395
],
"start_pose": [
-5.447037696838379,
0.12334861606359482,
0.061865925788879395
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b301.jpg",
"gt": "sim/b301_depth.npy",
"scene": "08",
"run": "l32rts1_pi",
"step": 240,
"pose": {
"x": -5.427,
"y": 1.139,
"yaw": 1.316
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.052434493135312,
"goal_dist": 4.379217071788369,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"start_pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b302.jpg",
"gt": "sim/b302_depth.npy",
"scene": "07",
"run": "l36rts4_pi",
"step": 624,
"pose": {
"x": -5.527,
"y": 2.27,
"yaw": 0.142
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b303.jpg",
"gt": "sim/b303_depth.npy",
"scene": "07",
"run": "l36rt_pi",
"step": 480,
"pose": {
"x": -5.021,
"y": -1.153,
"yaw": -3.076
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.163721260395854,
"goal_dist": 4.476072347035569,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"start_pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b304.jpg",
"gt": "sim/b304_depth.npy",
"scene": "07",
"run": "l32rt_pi",
"step": 480,
"pose": {
"x": -5.306,
"y": -0.515,
"yaw": 2.169
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b305.jpg",
"gt": "sim/b305_depth.npy",
"scene": "08",
"run": "l31rts2_pi",
"step": 144,
"pose": {
"x": -5.399,
"y": 0.533,
"yaw": 1.278
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.3334016230575871,
"goal_dist": 4.591965724026773,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"start_pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b306.jpg",
"gt": "sim/b306_depth.npy",
"scene": "08",
"run": "l35rts3_pi",
"step": 336,
"pose": {
"x": -4.299,
"y": 1.198,
"yaw": 0.539
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b307.jpg",
"gt": "sim/b307_depth.npy",
"scene": "08",
"run": "l39rts4_pi",
"step": 624,
"pose": {
"x": -4.637,
"y": 2.585,
"yaw": 0.51
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0656937781423945,
"goal_dist": 4.362469034805457,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903979301452637,
-0.7557083368301392,
-0.02319949120283127
],
"start_pose": [
-5.903979301452637,
-0.7557083368301392,
-0.02319949120283127
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b308.jpg",
"gt": "sim/b308_depth.npy",
"scene": "07",
"run": "l32rts1_pi",
"step": 144,
"pose": {
"x": -5.782,
"y": -0.144,
"yaw": 0.775
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b309.jpg",
"gt": "sim/b309_depth.npy",
"scene": "07",
"run": "l31rts3_pi",
"step": 144,
"pose": {
"x": -5.491,
"y": -0.425,
"yaw": 1.246
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0977078137706968,
"goal_dist": 4.38116326820604,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"start_pose": [
-6.6311540603637695,
-1.4186736345291138,
-0.033611346036195755
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b310.jpg",
"gt": "sim/b310_depth.npy",
"scene": "07",
"run": "l30rts1_pi",
"step": 576,
"pose": {
"x": -6.876,
"y": 1.52,
"yaw": -2.144
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b311.jpg",
"gt": "sim/b311_depth.npy",
"scene": "08",
"run": "l31rts2_pi",
"step": 480,
"pose": {
"x": -5.544,
"y": 1.489,
"yaw": 1.507
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.3334016230575871,
"goal_dist": 4.591965724026773,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"start_pose": [
-5.936965465545654,
-1.001038670539856,
-0.2701796293258667
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b312.jpg",
"gt": "sim/b312_depth.npy",
"scene": "07",
"run": "l39rts4_pi",
"step": 192,
"pose": {
"x": -5.832,
"y": 0.006,
"yaw": 1.305
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b313.jpg",
"gt": "sim/b313_depth.npy",
"scene": "08",
"run": "l36rts4_pi",
"step": 336,
"pose": {
"x": -4.632,
"y": 2.548,
"yaw": 0.484
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0638539521596648,
"goal_dist": 4.36263073594423,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903496265411377,
-0.7561774253845215,
-0.02120983973145485
],
"start_pose": [
-5.903496265411377,
-0.7561774253845215,
-0.02120983973145485
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b314.jpg",
"gt": "sim/b314_depth.npy",
"scene": "09",
"run": "l36rts3_pi",
"step": 240,
"pose": {
"x": -3.52,
"y": 2.713,
"yaw": 1.369
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0493114819823788,
"goal_dist": 4.4478426418030255,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"start_pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b315.jpg",
"gt": "sim/b315_depth.npy",
"scene": "07",
"run": "l39rts1_pi",
"step": 624,
"pose": {
"x": -4.572,
"y": -0.621,
"yaw": -0.43
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b316.jpg",
"gt": "sim/b316_depth.npy",
"scene": "07",
"run": "l37rt_pi",
"step": 288,
"pose": {
"x": -6.108,
"y": -0.863,
"yaw": 0.968
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.163721260395854,
"goal_dist": 4.476072347035569,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"start_pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b317.jpg",
"gt": "sim/b317_depth.npy",
"scene": "07",
"run": "l39rt_pi",
"step": 384,
"pose": {
"x": -5.394,
"y": -0.519,
"yaw": 2.461
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1636750029778504,
"goal_dist": 4.476058995893254,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"start_pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b318.jpg",
"gt": "sim/b318_depth.npy",
"scene": "07",
"run": "l39rts2_pi",
"step": 288,
"pose": {
"x": -5.807,
"y": -0.257,
"yaw": 1.026
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b319.jpg",
"gt": "sim/b319_depth.npy",
"scene": "08",
"run": "l36rt_pi",
"step": 432,
"pose": {
"x": -5.111,
"y": 2.318,
"yaw": 0.805
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b320.jpg",
"gt": "sim/b320_depth.npy",
"scene": "07",
"run": "l32rts3_pi",
"step": 144,
"pose": {
"x": -5.583,
"y": -0.688,
"yaw": 1.071
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0531004484830788,
"goal_dist": 4.396266107904996,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"start_pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b321.jpg",
"gt": "sim/b321_depth.npy",
"scene": "07",
"run": "l36rt_pi",
"step": 288,
"pose": {
"x": -5.146,
"y": -0.799,
"yaw": 2.345
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.163721260395854,
"goal_dist": 4.476072347035569,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"start_pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b322.jpg",
"gt": "sim/b322_depth.npy",
"scene": "07",
"run": "l38rt_pi",
"step": 240,
"pose": {
"x": -5.397,
"y": -0.448,
"yaw": 1.247
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b323.jpg",
"gt": "sim/b323_depth.npy",
"scene": "08",
"run": "l32rts4_pi",
"step": 144,
"pose": {
"x": -5.413,
"y": 0.237,
"yaw": 1.401
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0638077715938437,
"goal_dist": 4.362615579063135,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903452396392822,
-0.7561854720115662,
-0.021154044196009636
],
"start_pose": [
-5.903452396392822,
-0.7561854720115662,
-0.021154044196009636
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b324.jpg",
"gt": "sim/b324_depth.npy",
"scene": "07",
"run": "l37rts3_pi",
"step": 528,
"pose": {
"x": -6.948,
"y": 1.425,
"yaw": 1.425
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1144033344927173,
"goal_dist": 4.4007247540828525,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.650446891784668,
-1.4303216934204102,
-0.05285553261637688
],
"start_pose": [
-6.650446891784668,
-1.4303216934204102,
-0.05285553261637688
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b325.jpg",
"gt": "sim/b325_depth.npy",
"scene": "07",
"run": "l35rts3_pi",
"step": 528,
"pose": {
"x": -6.181,
"y": 2.211,
"yaw": 0.497
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1099973095207947,
"goal_dist": 4.3720969940890395,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.5955634117126465,
-1.427892804145813,
-0.037759870290756226
],
"start_pose": [
-6.5955634117126465,
-1.427892804145813,
-0.037759870290756226
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b326.jpg",
"gt": "sim/b326_depth.npy",
"scene": "08",
"run": "l36rts4_pi",
"step": 192,
"pose": {
"x": -5.428,
"y": 1.156,
"yaw": 1.676
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0638539521596648,
"goal_dist": 4.36263073594423,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903496265411377,
-0.7561774253845215,
-0.02120983973145485
],
"start_pose": [
-5.903496265411377,
-0.7561774253845215,
-0.02120983973145485
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b327.jpg",
"gt": "sim/b327_depth.npy",
"scene": "07",
"run": "l39rts3_pi",
"step": 0,
"pose": {
"x": -6.627,
"y": -1.434,
"yaw": -0.046
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1125344085335023,
"goal_dist": 4.392901102752169,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"start_pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b328.jpg",
"gt": "sim/b328_depth.npy",
"scene": "08",
"run": "l36rts3_pi",
"step": 240,
"pose": {
"x": -5.602,
"y": 0.553,
"yaw": 1.063
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b329.jpg",
"gt": "sim/b329_depth.npy",
"scene": "08",
"run": "l30rts1_pi",
"step": 384,
"pose": {
"x": -5.915,
"y": 1.32,
"yaw": 0.271
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b330.jpg",
"gt": "sim/b330_depth.npy",
"scene": "07",
"run": "l32rts2_pi",
"step": 288,
"pose": {
"x": -6.102,
"y": 0.046,
"yaw": 1.847
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b331.jpg",
"gt": "sim/b331_depth.npy",
"scene": "08",
"run": "l37rts3_pi",
"step": 240,
"pose": {
"x": -5.51,
"y": 0.967,
"yaw": 1.54
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0219922283211336,
"goal_dist": 4.385453121333373,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.971035480499268,
-0.7426347732543945,
0.005792904179543257
],
"start_pose": [
-5.971035480499268,
-0.7426347732543945,
0.005792904179543257
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b332.jpg",
"gt": "sim/b332_depth.npy",
"scene": "09",
"run": "l31rts2_pi",
"step": 96,
"pose": {
"x": -4.162,
"y": 1.115,
"yaw": 0.918
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.066273677893978,
"goal_dist": 4.49999204633244,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"start_pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b333.jpg",
"gt": "sim/b333_depth.npy",
"scene": "08",
"run": "l32rts3_pi",
"step": 0,
"pose": {
"x": -5.964,
"y": -0.739,
"yaw": 0.024
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b334.jpg",
"gt": "sim/b334_depth.npy",
"scene": "07",
"run": "l32rts2_pi",
"step": 192,
"pose": {
"x": -5.856,
"y": -0.247,
"yaw": 1.661
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b335.jpg",
"gt": "sim/b335_depth.npy",
"scene": "08",
"run": "l35rts2_pi",
"step": 288,
"pose": {
"x": -5.388,
"y": 1.806,
"yaw": 1.365
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2803984739794423,
"goal_dist": 4.599771232400724,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948699951171875,
-1.0034334659576416,
-0.21915289759635925
],
"start_pose": [
-5.948699951171875,
-1.0034334659576416,
-0.21915289759635925
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b336.jpg",
"gt": "sim/b336_depth.npy",
"scene": "07",
"run": "l39rts2_pi",
"step": 240,
"pose": {
"x": -5.769,
"y": -0.415,
"yaw": 1.047
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b337.jpg",
"gt": "sim/b337_depth.npy",
"scene": "07",
"run": "l35rts4_pi",
"step": 528,
"pose": {
"x": -6.815,
"y": 0.329,
"yaw": 2.172
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b338.jpg",
"gt": "sim/b338_depth.npy",
"scene": "08",
"run": "l32rts1_pi",
"step": 432,
"pose": {
"x": -5.275,
"y": 0.831,
"yaw": 0.595
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.052434493135312,
"goal_dist": 4.379217071788369,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"start_pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b339.jpg",
"gt": "sim/b339_depth.npy",
"scene": "07",
"run": "l30rt_pi",
"step": 192,
"pose": {
"x": -5.393,
"y": -0.388,
"yaw": 1.238
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637220570846987,
"goal_dist": 4.476064702929715,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742983818054199,
-1.4644137620925903,
-0.1165119856595993
],
"start_pose": [
-6.742983818054199,
-1.4644137620925903,
-0.1165119856595993
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b340.jpg",
"gt": "sim/b340_depth.npy",
"scene": "08",
"run": "l31rts1_pi",
"step": 336,
"pose": {
"x": -5.0,
"y": 2.335,
"yaw": 0.851
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b341.jpg",
"gt": "sim/b341_depth.npy",
"scene": "09",
"run": "l36rts3_pi",
"step": 144,
"pose": {
"x": -4.195,
"y": 1.065,
"yaw": 0.89
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0493114819823788,
"goal_dist": 4.4478426418030255,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"start_pose": [
-5.412485122680664,
0.09513765573501587,
0.02785913459956646
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b342.jpg",
"gt": "sim/b342_depth.npy",
"scene": "09",
"run": "l30rt_pi",
"step": 96,
"pose": {
"x": -4.24,
"y": 1.245,
"yaw": 0.86
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.07749339286236,
"goal_dist": 4.466323069513502,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.527299880981445,
0.13780008256435394,
-0.02748999372124672
],
"start_pose": [
-5.527299880981445,
0.13780008256435394,
-0.02748999372124672
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b343.jpg",
"gt": "sim/b343_depth.npy",
"scene": "09",
"run": "l31rts3_pi",
"step": 96,
"pose": {
"x": -4.16,
"y": 1.126,
"yaw": 0.928
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 0.9971958587904028,
"goal_dist": 4.4513871919884584,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.430481433868408,
0.10083948075771332,
0.0758076012134552
],
"start_pose": [
-5.430481433868408,
0.10083948075771332,
0.0758076012134552
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b344.jpg",
"gt": "sim/b344_depth.npy",
"scene": "08",
"run": "l32rts4_pi",
"step": 48,
"pose": {
"x": -5.839,
"y": -0.587,
"yaw": 0.463
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0638077715938437,
"goal_dist": 4.362615579063135,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903452396392822,
-0.7561854720115662,
-0.021154044196009636
],
"start_pose": [
-5.903452396392822,
-0.7561854720115662,
-0.021154044196009636
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b345.jpg",
"gt": "sim/b345_depth.npy",
"scene": "07",
"run": "l39rt_pi",
"step": 480,
"pose": {
"x": -6.307,
"y": 0.007,
"yaw": 2.63
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1636750029778504,
"goal_dist": 4.476058995893254,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"start_pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b346.jpg",
"gt": "sim/b346_depth.npy",
"scene": "08",
"run": "l38rt_pi",
"step": 192,
"pose": {
"x": -5.408,
"y": 0.732,
"yaw": 1.796
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b347.jpg",
"gt": "sim/b347_depth.npy",
"scene": "07",
"run": "l39rt_pi",
"step": 624,
"pose": {
"x": -5.978,
"y": 2.154,
"yaw": 0.412
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1636750029778504,
"goal_dist": 4.476058995893254,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"start_pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b348.jpg",
"gt": "sim/b348_depth.npy",
"scene": "07",
"run": "l35rts4_pi",
"step": 336,
"pose": {
"x": -6.351,
"y": -0.572,
"yaw": 0.975
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b349.jpg",
"gt": "sim/b349_depth.npy",
"scene": "08",
"run": "l39rts1_pi",
"step": 528,
"pose": {
"x": -5.227,
"y": 2.035,
"yaw": 1.01
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b350.jpg",
"gt": "sim/b350_depth.npy",
"scene": "08",
"run": "l31rt_pi",
"step": 624,
"pose": {
"x": -3.322,
"y": 2.372,
"yaw": 1.871
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b351.jpg",
"gt": "sim/b351_depth.npy",
"scene": "08",
"run": "l32rt_pi",
"step": 480,
"pose": {
"x": -4.377,
"y": 2.689,
"yaw": 0.393
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b352.jpg",
"gt": "sim/b352_depth.npy",
"scene": "07",
"run": "l39rts1_pi",
"step": 0,
"pose": {
"x": -6.475,
"y": -1.332,
"yaw": -0.019
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b353.jpg",
"gt": "sim/b353_depth.npy",
"scene": "07",
"run": "l37rt_pi",
"step": 48,
"pose": {
"x": -5.86,
"y": -1.104,
"yaw": 0.636
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.163721260395854,
"goal_dist": 4.476072347035569,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"start_pose": [
-6.7429962158203125,
-1.464415431022644,
-0.11651340126991272
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b354.jpg",
"gt": "sim/b354_depth.npy",
"scene": "07",
"run": "l32rt_pi",
"step": 48,
"pose": {
"x": -5.978,
"y": -1.203,
"yaw": 0.516
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637732307199933,
"goal_dist": 4.476041297085199,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"start_pose": [
-6.742931842803955,
-1.464416742324829,
-0.11655277013778687
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b355.jpg",
"gt": "sim/b355_depth.npy",
"scene": "07",
"run": "l32rts3_pi",
"step": 432,
"pose": {
"x": -6.063,
"y": -0.075,
"yaw": 0.38
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0531004484830788,
"goal_dist": 4.396266107904996,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"start_pose": [
-6.648322105407715,
-1.4264014959335327,
0.008434614166617393
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b356.jpg",
"gt": "sim/b356_depth.npy",
"scene": "08",
"run": "l35rt_pi",
"step": 336,
"pose": {
"x": -5.693,
"y": 1.5,
"yaw": 2.046
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b357.jpg",
"gt": "sim/b357_depth.npy",
"scene": "08",
"run": "l37rt_pi",
"step": 384,
"pose": {
"x": -5.61,
"y": 1.846,
"yaw": 1.549
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b358.jpg",
"gt": "sim/b358_depth.npy",
"scene": "07",
"run": "l36rts4_pi",
"step": 288,
"pose": {
"x": -5.895,
"y": -0.209,
"yaw": 1.19
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b359.jpg",
"gt": "sim/b359_depth.npy",
"scene": "07",
"run": "l35rts4_pi",
"step": 432,
"pose": {
"x": -6.51,
"y": -0.151,
"yaw": 2.057
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b360.jpg",
"gt": "sim/b360_depth.npy",
"scene": "08",
"run": "l39rt_pi",
"step": 480,
"pose": {
"x": -5.083,
"y": 0.922,
"yaw": -0.051
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b361.jpg",
"gt": "sim/b361_depth.npy",
"scene": "07",
"run": "l39rt_pi",
"step": 672,
"pose": {
"x": -5.107,
"y": 2.352,
"yaw": 0.204
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1636750029778504,
"goal_dist": 4.476058995893254,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"start_pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b362.jpg",
"gt": "sim/b362_depth.npy",
"scene": "08",
"run": "l32rts1_pi",
"step": 576,
"pose": {
"x": -6.115,
"y": 1.126,
"yaw": 1.374
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.052434493135312,
"goal_dist": 4.379217071788369,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"start_pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b363.jpg",
"gt": "sim/b363_depth.npy",
"scene": "08",
"run": "l37rts1_pi",
"step": 144,
"pose": {
"x": -5.441,
"y": 0.649,
"yaw": 1.404
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b364.jpg",
"gt": "sim/b364_depth.npy",
"scene": "07",
"run": "l31rts1_pi",
"step": 672,
"pose": {
"x": -5.62,
"y": 2.277,
"yaw": 0.241
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b365.jpg",
"gt": "sim/b365_depth.npy",
"scene": "07",
"run": "l30rt_pi",
"step": 480,
"pose": {
"x": -5.679,
"y": -0.327,
"yaw": 1.233
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1637220570846987,
"goal_dist": 4.476064702929715,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742983818054199,
-1.4644137620925903,
-0.1165119856595993
],
"start_pose": [
-6.742983818054199,
-1.4644137620925903,
-0.1165119856595993
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b366.jpg",
"gt": "sim/b366_depth.npy",
"scene": "08",
"run": "l35rts4_pi",
"step": 0,
"pose": {
"x": -5.903,
"y": -0.756,
"yaw": -0.021
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.063850813252329,
"goal_dist": 4.362616849941857,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"start_pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b367.jpg",
"gt": "sim/b367_depth.npy",
"scene": "07",
"run": "l36rts3_pi",
"step": 96,
"pose": {
"x": -5.503,
"y": -0.656,
"yaw": 0.993
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1125344085335023,
"goal_dist": 4.392901102752169,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"start_pose": [
-6.6268391609191895,
-1.4344761371612549,
-0.045833371579647064
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b368.jpg",
"gt": "sim/b368_depth.npy",
"scene": "07",
"run": "l39rt_pi",
"step": 48,
"pose": {
"x": -5.976,
"y": -1.201,
"yaw": 0.52
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1636750029778504,
"goal_dist": 4.476058995893254,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"start_pose": [
-6.742969512939453,
-1.464415431022644,
-0.11646197736263275
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b369.jpg",
"gt": "sim/b369_depth.npy",
"scene": "07",
"run": "l32rts1_pi",
"step": 336,
"pose": {
"x": -6.105,
"y": 0.084,
"yaw": 1.091
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b370.jpg",
"gt": "sim/b370_depth.npy",
"scene": "09",
"run": "l31rts1_pi",
"step": 144,
"pose": {
"x": -3.711,
"y": 2.015,
"yaw": 1.218
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0140430612791063,
"goal_dist": 4.399875065549819,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.411400318145752,
0.1491023451089859,
0.05753319710493088
],
"start_pose": [
-5.411400318145752,
0.1491023451089859,
0.05753319710493088
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b371.jpg",
"gt": "sim/b371_depth.npy",
"scene": "07",
"run": "l36rts4_pi",
"step": 144,
"pose": {
"x": -6.041,
"y": -0.481,
"yaw": 1.65
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b372.jpg",
"gt": "sim/b372_depth.npy",
"scene": "08",
"run": "l36rts1_pi",
"step": 528,
"pose": {
"x": -4.981,
"y": 0.9,
"yaw": 0.298
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b373.jpg",
"gt": "sim/b373_depth.npy",
"scene": "08",
"run": "l32rts2_pi",
"step": 336,
"pose": {
"x": -6.01,
"y": 0.886,
"yaw": -0.827
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.2812860432311268,
"goal_dist": 4.599606452197891,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"start_pose": [
-5.948514461517334,
-1.0033483505249023,
-0.220014289021492
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b374.jpg",
"gt": "sim/b374_depth.npy",
"scene": "09",
"run": "l36rt_pi",
"step": 192,
"pose": {
"x": -3.456,
"y": 2.719,
"yaw": 1.403
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.07749339286236,
"goal_dist": 4.466323069513502,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.527299880981445,
0.13780008256435394,
-0.02748999372124672
],
"start_pose": [
-5.527299880981445,
0.13780008256435394,
-0.02748999372124672
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b375.jpg",
"gt": "sim/b375_depth.npy",
"scene": "08",
"run": "l35rts1_pi",
"step": 192,
"pose": {
"x": -5.365,
"y": 1.073,
"yaw": 1.64
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.052434493135312,
"goal_dist": 4.379217071788369,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"start_pose": [
-5.936968803405762,
-0.7557390332221985,
-0.01644287072122097
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b376.jpg",
"gt": "sim/b376_depth.npy",
"scene": "07",
"run": "l39rts2_pi",
"step": 432,
"pose": {
"x": -6.775,
"y": -1.219,
"yaw": 0.995
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b377.jpg",
"gt": "sim/b377_depth.npy",
"scene": "07",
"run": "l37rts2_pi",
"step": 0,
"pose": {
"x": -6.827,
"y": -1.398,
"yaw": -0.013
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0360133859903682,
"goal_dist": 4.462255003294282,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.827289581298828,
-1.3983399868011475,
-0.012571032159030437
],
"start_pose": [
-6.827289581298828,
-1.3983399868011475,
-0.012571032159030437
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b378.jpg",
"gt": "sim/b378_depth.npy",
"scene": "08",
"run": "l30rts3_pi",
"step": 432,
"pose": {
"x": -5.686,
"y": 0.879,
"yaw": 0.496
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0134017117234793,
"goal_dist": 4.3837676077676235,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"start_pose": [
-5.9686784744262695,
-0.7420881986618042,
0.014779322780668736
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b379.jpg",
"gt": "sim/b379_depth.npy",
"scene": "07",
"run": "l30rts2_pi",
"step": 48,
"pose": {
"x": -6.076,
"y": -1.094,
"yaw": 0.573
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.036274547998607,
"goal_dist": 4.462212749366058,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"start_pose": [
-6.8272480964660645,
-1.3983157873153687,
-0.012827077880501747
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b380.jpg",
"gt": "sim/b380_depth.npy",
"scene": "08",
"run": "l39rt_pi",
"step": 624,
"pose": {
"x": -5.398,
"y": 1.656,
"yaw": 0.991
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b381.jpg",
"gt": "sim/b381_depth.npy",
"scene": "07",
"run": "l37rts1_pi",
"step": 336,
"pose": {
"x": -6.272,
"y": -0.016,
"yaw": 2.518
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1049838235144005,
"goal_dist": 4.230695650014417,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"start_pose": [
-6.474844932556152,
-1.3321282863616943,
-0.018508780747652054
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b382.jpg",
"gt": "sim/b382_depth.npy",
"scene": "08",
"run": "l37rts3_pi",
"step": 384,
"pose": {
"x": -5.006,
"y": 3.069,
"yaw": 0.887
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0219922283211336,
"goal_dist": 4.385453121333373,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.971035480499268,
-0.7426347732543945,
0.005792904179543257
],
"start_pose": [
-5.971035480499268,
-0.7426347732543945,
0.005792904179543257
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b383.jpg",
"gt": "sim/b383_depth.npy",
"scene": "09",
"run": "l37rts3_pi",
"step": 192,
"pose": {
"x": -3.425,
"y": 3.414,
"yaw": 1.343
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0054399465985693,
"goal_dist": 4.439587264652784,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.447037696838379,
0.12334861606359482,
0.061865925788879395
],
"start_pose": [
-5.447037696838379,
0.12334861606359482,
0.061865925788879395
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b384.jpg",
"gt": "sim/b384_depth.npy",
"scene": "09",
"run": "l31rts4_pi",
"step": 48,
"pose": {
"x": -4.854,
"y": 0.421,
"yaw": 0.646
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b385.jpg",
"gt": "sim/b385_depth.npy",
"scene": "07",
"run": "l31rts4_pi",
"step": 0,
"pose": {
"x": -7.219,
"y": -0.888,
"yaw": 2.705
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b386.jpg",
"gt": "sim/b386_depth.npy",
"scene": "08",
"run": "l30rts1_pi",
"step": 240,
"pose": {
"x": -5.436,
"y": 1.173,
"yaw": 0.876
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0558198039281272,
"goal_dist": 4.378796518362839,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"start_pose": [
-5.937243938446045,
-0.7550871968269348,
-0.01995811238884926
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b387.jpg",
"gt": "sim/b387_depth.npy",
"scene": "08",
"run": "l35rts4_pi",
"step": 48,
"pose": {
"x": -5.837,
"y": -0.587,
"yaw": 0.457
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.063850813252329,
"goal_dist": 4.362616849941857,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"start_pose": [
-5.903464317321777,
-0.7561799883842468,
-0.02120007947087288
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b388.jpg",
"gt": "sim/b388_depth.npy",
"scene": "09",
"run": "l35rts1_pi",
"step": 0,
"pose": {
"x": -5.461,
"y": 0.144,
"yaw": -0.125
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1877258471530538,
"goal_dist": 4.428879097040533,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.461425304412842,
0.1435636281967163,
-0.1254676878452301
],
"start_pose": [
-5.461425304412842,
0.1435636281967163,
-0.1254676878452301
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b389.jpg",
"gt": "sim/b389_depth.npy",
"scene": "07",
"run": "l30rts3_pi",
"step": 0,
"pose": {
"x": -6.626,
"y": -1.434,
"yaw": -0.047
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1143662039435407,
"goal_dist": 4.392312203790581,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.625919342041016,
-1.4343109130859375,
-0.047499969601631165
],
"start_pose": [
-6.625919342041016,
-1.4343109130859375,
-0.047499969601631165
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b390.jpg",
"gt": "sim/b390_depth.npy",
"scene": "07",
"run": "l35rts3_pi",
"step": 288,
"pose": {
"x": -5.703,
"y": -0.331,
"yaw": 2.633
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.1099973095207947,
"goal_dist": 4.3720969940890395,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-6.5955634117126465,
-1.427892804145813,
-0.037759870290756226
],
"start_pose": [
-6.5955634117126465,
-1.427892804145813,
-0.037759870290756226
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b391.jpg",
"gt": "sim/b391_depth.npy",
"scene": "08",
"run": "l37rts4_pi",
"step": 48,
"pose": {
"x": -5.782,
"y": -0.557,
"yaw": 0.498
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.06372651602842,
"goal_dist": 4.362609683895006,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"start_pose": [
-5.90354061126709,
-0.7561271786689758,
-0.021096987649798393
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b392.jpg",
"gt": "sim/b392_depth.npy",
"scene": "07",
"run": "l31rts4_pi",
"step": 480,
"pose": {
"x": -5.834,
"y": -0.184,
"yaw": 1.156
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": -1.8227164561382558,
"goal_dist": 4.2721640282922335,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"start_pose": [
-7.218545913696289,
-0.8877051472663879,
2.7052855491638184
],
"goal_xy": [
-4.505,
2.412
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "07_crate_wall_gap"
}
},
{
"img": "sim/b393.jpg",
"gt": "sim/b393_depth.npy",
"scene": "09",
"run": "l35rts4_pi",
"step": 0,
"pose": {
"x": -5.577,
"y": 0.06,
"yaw": -0.017
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0660059511803182,
"goal_dist": 4.558502031447448,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"start_pose": [
-5.577052116394043,
0.06007389351725578,
-0.016985826194286346
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b394.jpg",
"gt": "sim/b394_depth.npy",
"scene": "08",
"run": "l36rt_pi",
"step": 384,
"pose": {
"x": -5.571,
"y": 1.529,
"yaw": 1.52
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b395.jpg",
"gt": "sim/b395_depth.npy",
"scene": "09",
"run": "l31rts2_pi",
"step": 144,
"pose": {
"x": -3.719,
"y": 1.901,
"yaw": 1.143
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.066273677893978,
"goal_dist": 4.49999204633244,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"start_pose": [
-5.534811973571777,
0.1033087894320488,
-0.013904585503041744
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b396.jpg",
"gt": "sim/b396_depth.npy",
"scene": "08",
"run": "l31rt_pi",
"step": 144,
"pose": {
"x": -5.3,
"y": 0.38,
"yaw": 1.066
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0256698627343326,
"goal_dist": 4.505442300554253,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"start_pose": [
-5.959686279296875,
-0.8886922597885132,
0.02102397195994854
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b397.jpg",
"gt": "sim/b397_depth.npy",
"scene": "09",
"run": "l31rt_pi",
"step": 144,
"pose": {
"x": -3.717,
"y": 1.936,
"yaw": 1.155
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0848238425401284,
"goal_dist": 4.466339025357431,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.528176307678223,
0.13828454911708832,
-0.035044629126787186
],
"start_pose": [
-5.528176307678223,
0.13828454911708832,
-0.035044629126787186
],
"goal_xy": [
-3.305,
4.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "09_barrel_center"
}
},
{
"img": "sim/b398.jpg",
"gt": "sim/b398_depth.npy",
"scene": "08",
"run": "l32rts3_pi",
"step": 432,
"pose": {
"x": -5.54,
"y": 1.769,
"yaw": 1.308
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0048209898959204,
"goal_dist": 4.378755552861249,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"start_pose": [
-5.963781833648682,
-0.7391871213912964,
0.023975571617484093
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
},
{
"img": "sim/b399.jpg",
"gt": "sim/b399_depth.npy",
"scene": "08",
"run": "l37rt_pi",
"step": 480,
"pose": {
"x": -4.667,
"y": 2.611,
"yaw": 0.237
},
"meta": {
"fx": 363.8997802734375,
"fy": 363.8997802734375,
"cx": 252.0,
"cy": 140.0,
"cam_h": 0.133,
"goal_bearing": 1.0257625337857448,
"goal_dist": 4.505506625879943,
"dt": 0.05,
"viz": false,
"reset": true,
"slam": false,
"map_nav": false,
"nav": true,
"pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"start_pose": [
-5.959751605987549,
-0.8887287974357605,
0.02092280611395836
],
"goal_xy": [
-3.705,
3.012
],
"async_plan": true,
"nav_margin": 0.1,
"nav_extrude": 0.0,
"nav_base": 0.0,
"scenario": "08_person_and_cones"
}
}
]